DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System
Journal article, Peer reviewed
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OriginalversjonModeling, Identification and Control. 2004, 25 (4), 223-236. 10.4173/mic.2004.4.2
The RDI WHN-600 Doppler Velocity Log (DVL) is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV). HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is facilitated by a low drift velocity aided Inertial Navigation System (INS). Major factors determining the position error growth are the IMU and DVL error characteristics and the mission plan pattern_ For instance, low frequency DVL errors cause an approximately linear drift in a straight-line trajectory, while these errors tend to be cancelled out by a lawn mower pattern_ The paper focuses on the accuracy offered by the DVL. HUGIN 1000 is a permanent organic mine countermeasure (MCM) capacity on the Royal Norwegian Navy MCM vessel KNM Karmoy. HUGIN 1000 will be part of the NATO force MCMFORNORTH in fall 2004.