NDLI: A low-cost underwater navigation system for remotely operated underwater vehicle — Design, system-integration, and implementation

Content Provider	IEEE Xplore Digital Library
Author	Budiman, W. Shanmugavel, M. Ragavan, V. Lazarus, S.B.
Copyright Year	2014
Description	Author affiliation: Dept. of Mechatron. Eng., Monash Univ., Bandar Sunway, Malaysia (Budiman, W.; Shanmugavel, M.; Ragavan, V.) \|\| Sch. of Eng., Cranfield Univ., Cranfield, UK (Lazarus, S.B.)
Abstract	This paper presents a low-cost underwater navigation system for Remotely Operated Underwater Vehicles (ROUVs). The navigation uses an on-board IMU signal together with intermittent GPS signal to provide real-time localization. This GPS-aided Inertial Navigation System (INS) estimates latitude and longitude of the ROUV using Kalman filter. A dedicated navigation software with a GUI is built to simulate the orientation of the ROUV and also is able to acquire near real-time data as it does not require post-data analysis. The software is able to access Google Maps and thus plot the live trajectory. This makes the system user-friendly for people with bare minimum knowledge in mathematics of navigation. The navigation system is first tested on ground where reception of GPS signal is good to ensure proper functioning. This is followed by testing with a custom-built ROUV in swimming pools surrounded by high raise-building where the GPS signal is distorted or poor. The navigation system is able to localize the ROUV with an accuracy of 2 to 3 metres. The system is also designed to store the data on-board as well as on surface to facilitate ease-of-search, and to initialize the search operation in the event of loss of communication.
Starting Page	1
Ending Page	4
File Size	768551
Page Count	4
File Format	PDF
ISBN	9781479939749
e-ISBN	9781479939756
DOI	10.1109/ICCIC.2014.7238429
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-12-18
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Noise Software Sensors Kalman filters Underwater vehicles Global Positioning System
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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