On AUV Navigation Based on Acoustic Sensing of the Seabed Profile
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Abstract—A method for determining the current position of an autonomous underwater vehicle (AUV) based on an algorithm for determining the AUV velocity using acoustic sensing of the seabed profile is proposed. The method uses velocity measurement as an additional sensor of the absolute velocity whose data are shared with the inertial navigation system (INS) as the input data of a filter determining the AUV position.
The work was supported in part by the Russian Foundation for Basic Research, project nos. 16-31-60049 and 16-07-00677.
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