Navigation Sensor Data Fusion for the AUV Remus

Authors: Fulton T.F.; Cassidy C.J.

Source: Marine Technology, Volume 38, Number 1, 1 January 2001 , pp. 65-69(5)

Publisher: Society of Naval Architects and Marine Engineers (SNAME)

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Abstract:

The development of a navigation sensor data fusion algorithm for the autonomous underwater vehicle (AUV) Remus is described. Remus is a small, low-cost AUV designed and built at the Ocean Systems Laboratory of the Woods Hole Oceanographic Institute. The navigation sensors for Remus include an acoustic navigation system, a Doppler velocity sonar, and a compass. The data from these sensors are integrated in an extended Kalman filter, with the objective of producing a more accurate vehicle track. Postprocessing results using data from two recent field trials are presented.

Document Type: Research article

Publication date: 2001-01-01

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Marine Technology is dedicated to James Kennedy, 1867-1936, marine engineer, and longtime member of the Society, in recognition and appreciation of his sincere and generous interest in furthering the art of ship design, shipbuilding, ship operation, and related activities.

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