Publication Detail

Comparison of Fix Computation and Filtering for Autonomous Acoustic Navigation

Jerome Vaganay, James G Bellingham, John Leonard
8 pp.
MITSG 97-07J
$2.00 DOM

Oceanographic data acquired by an Autonomous Underwater Vehicle (AUV) must be correlated with accurate position information in order to be of value to scientists. Accurate navigating is therefore an essential requirement which can be fulfilled by use of acoustic Long Base Line (LBL) navigation systems and dead reckoning sensors. Two possible approaches are: (1) fix computation, which consists of dead reckoning between fixes computed from acoustic travel times, and (2) filtering by means of a Kalman filter. In this paper, the authors discuss the advantages and drawbacks of these two approaches and apply them to real data sets collected by the Odyssey II AUV.

type: Technical reports

Parent Project

Project No.: 1993-RU-4-PD
Title: Pressure-Compensated Imaging System for Deep-Ocean Use

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