engleski

A method for measuring navigation accuracy of submerged UUVs

— Navigation accuracy of a submerged unmanned undersea vehicle (UUV) is a vital component of mine warfare and surveillance missions which are increasingly being conducted by unmanned systems. The available methods for determining the position of an unmanned undersea vehicle (UUV) are numerous, but depend greatly on the depth of operation. GPS provides accurate position at the surface, and Doppler velocity log (DVL) sensors are very effective at improving dead-reckon positioning once the vehicle reaches a depth such that it can achieve bottom lock. In between, a number of off-board options exist to monitor the position of the UUV: imaging sonar systems, visual camera systems, and transponder positioning systems (long baseline, short baseline, or ultra-short baseline) being the most popular and plentiful. An overall methodology for assessing UUV navigation accuracy using fixed or mobile assets is proposed and explained. Experimental results of a subset of the methods described have been put into practice in recent experiments in California and Croatia. Preliminary results of these experiments will be presented.

unmanned underwater vehicles, underwater localization, sensor fusion

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