The Under-Ice Navigation of the AUV Theseus

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Authors
  1. Verrall, R.
  2. Butler, B.
Corporate Authors
Defence Research Establishment Atlantic, Dartmouth NS (CAN)
Abstract
The Canadian Department of National Defence has developed an autonomous underwater vehicle capable of performing long-range missions in ice-covered waters. Autonomous operations in such an extreme environment, often where a priori knowledge of the bathymetry is limited, requires a navigation system that is precise, reliable and repeatable. A hybrid navigation system has been developed which provides precise navigation by combining data from two different types of sensors: inertial and acoustic. This navigation system has been integrated into the large AUV known as Theseus, and for mission lengths of up to 200 km it has demonstrated horizontal navigational accuracies of better than 0.05% of distance travelled. This paper gives details on its navigation sensors and describes the AUV and its successful mission in the High Arctic.
Keywords
Under-ice navigation;Theseus;AUV (Autonomous Underwater Vehicle);Obstacle avoidance sonar
Report Number
DREA-SL-1999-028 — Paper
Date of publication
01 Jul 1999
Number of Pages
14
DSTKIM No
CA001263
CANDIS No
513121
Format(s):
Hardcopy;Document Image stored on Optical Disk

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