DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System

Author
Jalving, Bjørn
Gade, Kenneth
Svartveit, Kristian
Willumsen, Are Baardsgaard
Sørhagen, Robert
Date Issued
2004
Keywords
TermsetEmneord::Navigasjon
TermsetEmneord::Hastighetsmåling
TermsetEmneord::NavLab
TermsetEmneord::NavP
TermsetEmneord::Treghetsnavigasjon
TermsetEmneord::Hugin
Permalink
http://hdl.handle.net/20.500.12242/734
https://publications.ffi.no/123456789/734
DOI
10.4173/mic.2004.4.2
Collection
Articles
Description
Jalving, Bjørn; Gade, Kenneth; Svartveit, Kristian; Willumsen, Are Baardsgaard; Sørhagen, Robert. DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System. Modeling, Identification and Control 2004 ;Volum 25.(4) s. 223-236
1198922.pdf
Size: 2M
Abstract
The RDI WHN-600 Doppler Velocity Log (DVL) is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV). HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is facilitated by a low drift velocity aided Inertial Navigation System (INS). Major factors determining the position error growth are the IMU and DVL error characteristics and the mission plan pattern_ For instance, low frequency DVL errors cause an approximately linear drift in a straight-line trajectory, while these errors tend to be cancelled out by a lawn mower pattern_ The paper focuses on the accuracy offered by the DVL. HUGIN 1000 is a permanent organic mine countermeasure (MCM) capacity on the Royal Norwegian Navy MCM vessel KNM Karmoy. HUGIN 1000 will be part of the NATO force MCMFORNORTH in fall 2004.
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