Geophysical Navigation of Autonomous Underwater Vehicles Using Geomagnetic Information *

作     者：Francisco C. Teixeira António M. Pascoal 

作者机构：Institute for Systems and Robotics and Dept. Electrical Engineering Instituto Superior Técnico. Lisbon Portugal 

出 版 物：《IFAC Proceedings Volumes》 

年 卷 期：2008年第41卷第1期

页      面：178-183页

主　　题：Geophysical navigation terrain navigation autonoumous underwater vehicles geopotential fields geomagnetism 

摘      要：This paper addresses the general problem of Autonomous Underwater Vehicle navigation by exploiting the availability of terrain and geophysics-related data. Geophysical navigation algorithms are derived to estimate the position and velocity of an AUV in the presence of unknown ocean currents and sensor biases. The current implementation merges acoustic and magnetic measurements with dead-reckoning data. One of the main contributions of the paper is the utilization of maps of invariant gradients that can be calculated from prior maps of the geomagnetic field. The results obtained through computer simulations with real data show the effectiveness of the GN approach proposed.