%0 Journal Article
%T DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System
%A Bj£¿rn Jalving
%A Kenneth Gade
%A Kristian Svartveit
%A Are Willumsen
%J Modeling, Identification and Control
%D 2004
%I Norwegian Society of Automatic Control
%R 10.4173/mic.2004.4.2
%X 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.
%K Autonomous underwater vehicle
%K aided inertial navigation
%K Kalman filter
%K Inertial measurement unit
%U http://www.mic-journal.no/PDF/2004/MIC-2004-4-2.pdf