- 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://ffi-publikasjoner.archive.knowledgearc.net/handle/20.500.12242/734
- 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.