ICRA 2011 Paper Abstract


Paper WeA203.4

Troni, Giancarlo (Johns Hopkins University), McFarland, Christopher (Johns Hopkins University), Nichols, Kirk (Johns Hopkins University), Whitcomb, Louis (The Johns Hopkins University)

Experimental Evaluation of an Inertial Navigation System for Underwater Robotic Vehicles

Scheduled for presentation during the Regular Sessions "Autonomous Navigation IV" (WeA203), Wednesday, May 11, 2011, 10:50−11:05, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Autonomous Navigation, Sensor Fusion, Marine Robotics


This paper reports the results of an in-water laboratory evaluation of the state estimation accuracy of a commercially available inertial navigation system (INS), and the effect of variations in the accuracy and the update rate of INS correction data on the accuracy of the INS state estimate. The navigation accuracy of the INS state estimate is evaluated by comparison with navigation data from a highly accurate navigation system available in our laboratory that employs high-frequency acoustic time-of-flight ranging, precision pressure depth sensing, bottom-lock Doppler sonar, and a true-North-seeking gyrocompass that is integral to the INS.



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