Autonomous navigation with sparse reference points
Isabel M. G. Lourtie, Maria João Rendas · 2002
This paper presents a navigation system for an autonomous underwater vehicle (AUV) that allows long range navigation by combining two distinct modes: local positioning with respect to a long baseline array of known localization (reference points) and autonomous mode in-between reference points, relying only on sonar/Doppler and depth information. In both modes, a Kalman based design approach was chosen. The performance of the proposed architecture is analyzed by Monte Carlo simulation considering a typical manoeuvring operation.>