Integrated navigation system applied to dynamic modeling of Autonomous Underwater Vehicle

Autonomous Underwater Vehicle (AUV), a type of UUV, requires a precise navigation system for localization, positioning, path tracking, guidance, and control. In order to develop a robust and precise AUV navigation system, we need to know an overall modeling of AUV. AUV Modeling is a complex problem and involves the interdiciplinary study of kinematic, hydrostatics, and hydrodynamics. For instance, an increased knowledge on hydrodynamic parameters then it leads to a better navigation solution, system design and performance. The overall objective of this paper is to accomplish dynamic mathematical modeling of an AUV and then to develop and implement a low-cost Integrated Navigation System based on error models of Inertial Navigation System (INS) and its aiding devices such as Doppler Velocity Log (DVL), compass, Pressure Depth Sensor. A 20-state INS error model and the corresponding measurement models of those aiding sources will be derived for the KF. The simulation results confirmed that low-cost IMU sensors produce a notable amount of noisy measurements but a KF can effectively mitigate those drawbacks.