NDLI: New experimental results on GPS/INS navigation for Ocean Voyager II AUV

Content Provider	IEEE Xplore Digital Library
Author	An, P.E. Healey, A.J. Smith, S.M. Dunn, S.E.
Copyright Year	1996
Description	Author affiliation: Dept. of Ocean Eng., Florida Atlantic Univ., Boca Raton, FL, USA (An, P.E.)
Abstract	This paper presents preliminary experimental results on small-sized autonomous underwater vehicle navigation in shallow water environments. The vehicle was chosen to be our second-generation Ocean Voyager II which has been integrated with on-board GPS/INS sensors. These first-cut results reveal practical problems when using raw GPS fixes to perform high-precision real-time navigation. Among these, the most damaging factor is the observed correlated noise (which has a long time constant and large magnitude) embedded in the GPS data. With such disturbance, one cannot distinguish between instantaneous signal and noise over a short time scale (especially with sporadic fixes), and consequently the position estimator will be greatly biased. However, with regular incoming fixes, one can process the error between dead-reckoned and GPS signal in order to minimize the influence of the correlated noise under the assumption that any drift due to sensor bias or currents is relatively time-invariant. This processing thus enables one to estimate the drift and drift rate over time reliably for post-processed vehicle localization. In addition to the results in this paper, a differential GPS and Doppler-velocity-log sensor are currently implemented on our Ocean Explorer which is expected to provide much improved navigational performance. The chosen differential GPS sensor has so far demonstrated successful tracking at 2 feet below water surface, thus reinforcing a potential solution for clandestine operations.
Starting Page	249
Ending Page	255
File Size	429612
Page Count	7
File Format	PDF
ISBN	0780331850
DOI	10.1109/AUV.1996.532422
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-06-02
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Navigation Oceans Sensor phenomena and characterization Marine vehicles Sea surface Underwater vehicles Remotely operated vehicles Underwater tracking Vehicle dynamics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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