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Sensors 2015, 15(10), 26818-26837; doi:10.3390/s151026818

Observability Analysis of DVL/PS Aided INS for a Maneuvering AUV

The Acoustic and Navigation Laboratory (ANL), Department of Marine Technology, University of Haifa, Haifa 3498838, Israel
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Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 2 September 2015 / Revised: 6 October 2015 / Accepted: 14 October 2015 / Published: 22 October 2015
(This article belongs to the Section Physical Sensors)
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Abstract

Recently, ocean exploration has increased considerably through the use of autonomous underwater vehicles (AUV). A key enabling technology is the precision of the AUV navigation capability. In this paper, we focus on understanding the limitation of the AUV navigation system. That is, what are the observable error-states for different maneuvering types of the AUV? Since analyzing the performance of an underwater navigation system is highly complex, to answer the above question, current approaches use simulations. This, of course, limits the conclusions to the emulated type of vehicle used and to the simulation setup. For this reason, we take a different approach and analyze the system observability for different types of vehicle dynamics by finding the set of observable and unobservable states. To that end, we apply the observability Gramian approach, previously used only for terrestrial applications. We demonstrate our analysis for an underwater inertial navigation system aided by a Doppler velocity logger or by a pressure sensor. The result is a first prediction of the performance of an AUV standing, rotating at a position and turning at a constant speed. Our conclusions of the observable and unobservable navigation error states for different dynamics are supported by extensive numerical simulation. View Full-Text
Keywords: AUV navigation; observability Gramian; Inertial navigation systems; AUV maneuvering AUV navigation; observability Gramian; Inertial navigation systems; AUV maneuvering
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Klein, I.; Diamant, R. Observability Analysis of DVL/PS Aided INS for a Maneuvering AUV. Sensors 2015, 15, 26818-26837.

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