In response to the requirement for autonomous navigation capability of unmanned undersea vehicles, a dead-reckoning navigation system composed of a Doppler velocity log(DVL), a pressure sensor, an electronic compass(ECP), and a low-cost inertial measurement unit(IMU) is designed in this study, and a DVL-based autonomous navigation method is developed. In the proposed method, a sensor integration scheme is implemented to overcome the installation error and time asynchrony. An ECP/IMU fusion scheme is developed for high-frequency attitude parameters. On this basis, the strategies for the elimination of DVL abnormal data, the correction of DVL high dynamic errors and the assistance of global navigation satellite system are formulated. The proposed method is applied on the “Haiwei 1” autonomous undersea vehicle(AUV). The filed experiments of “Haiwei 1” AUV indicate that the positioning accuracy of the autonomous navigation corresponds to approximately 1.5%(circular error probable) of the distance traveled, which can serve as a reference for related researches and applications.


    Access

    Download


    Export, share and cite



    Title :

    DVL-based Autonomous Navigation Method for Unmanned Undersea Vehicles


    Contributors:
    Peijia LIU (author) / Liping QIN (author) / Guanghua LI (author) / Dongdong HOU (author) / Zhengyu ZHU (author)


    Publication date :

    2023




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Efficient undersea charging of undersea autonomous vehicles

    COUGHLAN DAVID R / WISNIEWSKI II STANLEY C / GARRETT LARA DENISE et al. | European Patent Office | 2024

    Free access

    EFFICIENT UNDERSEA CHARGING OF UNDERSEA AUTONOMOUS VEHICLES

    COUGHLAN DAVID R / WISNIEWSKI II STANLEY C / GARRETT LARA DENISE et al. | European Patent Office | 2021

    Free access

    EFFICIENT UNDERSEA CHARGING OF UNDERSEA AUTONOMOUS VEHICLES

    COUGHLAN DAVID R / WISNIEWSKI II STANLEY C / GARRETT LARA DENISE et al. | European Patent Office | 2021

    Free access

    EFFICIENT UNDERSEA CHARGING OF UNDERSEA AUTONOMOUS VEHICLES

    COUGHLAN DAVID R / WISNIEWSKI II STANLEY C / GARRETT LARA DENISE et al. | European Patent Office | 2021

    Free access

    Solar-powered Autonomous Undersea Vehicles

    Blidberg, D. R. | British Library Online Contents | 1997