Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
IMPLEMENTATION AND ANALYSIS OF A NAVIGATION SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLES
Submission Author:
Rodrigo Eiji Yamagata Diana , SP
Co-Authors:
Rodrigo Eiji Yamagata Diana, Ettore de Barros
Presenter: Rodrigo Eiji Yamagata Diana
doi://10.26678/ABCM.DINAME2017.DIN17-0053
Abstract
This document proposes a navigation system for position estimation of AUVs using the principle of dead reckoning and followed by an analytical expression to predict its accumulated positioning error based on maneuvers duration and the embedded navigation sensors specifications. The position estimation can be expressed both in a local and geodesic frames, which permits correlating the collected oceanographic data and trajectory to maps. The algorithm is tested using real navigation data and the trajectory is plotted using real maps for visualization. Practical issues are then discussed, such as magnetic declination correction and improvement of velocity measurement and prediction. The algorithm position estimation is compared to the embedded GPS signal, defining its error. The error is then compared to the predicted one by the analytical expression, verifying its applicability to foresee error accumulation during the absence of GPS signal on underwater missions.
Keywords
AUV, navigation sytem, dead reckoning, error estimation, signal filtering
