A Navigation Solution Using a MEMS IMU, Model-Based Dead-Reckoning, and One-Way-Travel-Time Acoustic Range Measurements for Autonomous Underwater Vehicles

Recent advances in acoustic navigation methods are enabling extended autonomous underwater vehicles' (AUVs) mission time while maintaining their XY position error within appropriate limits. Furthermore, while advances in inertial sensor technology are drastically lowering the size, power consumption, and cost of these sensors, these sensors remain noisy and accrue error over time. This paper builds on the research and recent developments in single beacon one-way-travel-time acoustic navigation and investigates the degree of bounding position error for small AUVs with a minimal navigation strapdown sensor suite, relying on a consumer grade microelectromechanical system inertial measurement unit (IMU) and a vehicle's dynamic model velocity. An implementation of an extended Kalman filter that includes IMU bias estimation and coupled with a range filter is obtained in the field on two types of AUVs. Results from these field trials in controlled environments and ocean show that the reported navigation solution possesses an accuracy comparable to existing methods.