Preliminary field experience with the DVLNAV integrated navigation system for oceanographic submersibles

被引：87

作者：

Kinsey, JC ^{[1
]}

Whitcomb, LL ^{[1
]}

机构：

[1] Johns Hopkins Univ, GWC Whiting Sch Engn, Dept Mech Engn, Baltimore, MD 21218 USA

来源：

CONTROL ENGINEERING PRACTICE | 2004年 / 12卷 / 12期

基金：

美国国家科学基金会;

关键词：

underwater navigation; remotely operated vehicles; submersibles;

D O I：

10.1016/j.conengprac.2003.12.010

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper reports the development and field testing of DVLNAV, an interactive program for precision three-dimensional navigation of underwater vehicles. The goal of this system is to provide vehicle position and velocity navigation data with both the precision and update rate necessary to enable closed-loop vehicle control. We report the results of preliminary field trials of DVLNAV with the Jason II underwater robot. The performance of bottom lock Doppler navigation is evaluated with respect to long baseline acoustic navigation. (C) 2004 Elsevier Ltd. All rights reserved.

引用

页码：1541 / 1549

页数：9

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