Navigation schemes for underwater robots using strapdown inertial navigation system

The authors deals with navigation schemes for underwater robots using strapdown inertial navigation systems. Compared to the current hydroacoustic position reference systems used for underwater robots, the strapdown inertial systems have longer operation distance, possess better autonomous ability, provide more complete navigation, and offer higher potential accuracy. Two navigation schemes are proposed, one for short-range operations and the other for long-range operations. Criteria for the choice of one of the two are also given. Their application conditions, software requirements, and their respective navigation errors are analyzed.<
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