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Autonomous Underwater Vehicle Navigation

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Springer Handbook of Ocean Engineering

Part of the book series: Springer Handbooks ((SHB))

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Abstract

This chapter surveys the problem of navigation for autonomous underwater vehicles (GlossaryTerm

AUV

s). Navigation is critical for the safety and effectiveness of AUV missions. The unavailability of global positioning system (GlossaryTerm

GPS

) underwater makes AUV navigation a challenging research problem. Recent years have seen considerable improvements in performance and reduction in the cost and size of the various sensor devices available for ocean vehicle navigation. In concert with these developments, advances in algorithms such as simultaneous localization and mapping, and cooperative navigation have enabled dramatic improvements in the navigation capabilities of AUVs. These improvements in AUV navigation have contributed to the successful deployment of AUVs for a wide variety of applications over the past decade.

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Abbreviations

2-D:

two-dimensional

3-D:

three-dimensional

AHRS:

attitude-heading reference system

AUV:

autonomous underwater vehicle

DR:

dead reckoning

DTG:

dynamically tuned gyroscope

DVL:

Doppler velocity log

FOG:

fiber optic gyroscope

GPS:

global positioning system

INS:

inertial navigation system

MEMS:

micro-electro-mechanical system

NA:

navigation aid

OWTT:

one-way travel-time

RLG:

ring laser gyroscope

SLAM:

simultaneous localization and mapping

TAT:

turn around time

TCXO:

temperature compensated crystal oscillator

TOF:

time-of-flight

USBL:

ultrashort baseline

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Authors and Affiliations

  1. Dep. Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, MA 02139-4307, Cambridge, Massachusetts, USA

    John J. Leonard

  2. ENAC IIE DISAL, Ecole Polytechnique Fédérale de Lausanne, GR A2 454, Station 2, 1015, Lausanne, Switzerland

    Alexander Bahr

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  1. The Inst. for Ocean and Systems Engineering – SeaTech, Florida Atlantic University, 101 North Beach Road, FL 33004, Dania Beach, Florida, USA

    Manhar R. Dhanak

  2. School of Naval Architecture & Marine Engineering, University of New Orleans, 2000 Lakeshore Drive, LA 70148, New Orleans, Louisiana, USA

    Nikolaos I. Xiros

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Leonard, J.J., Bahr, A. (2016). Autonomous Underwater Vehicle Navigation. In: Dhanak, M.R., Xiros, N.I. (eds) Springer Handbook of Ocean Engineering. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-16649-0_14

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