Guidance and control of P-SURO II hybrid AUV

P-SURO II AUV is a hybrid vehicle which has been developing in KIRO since June in last year. In this paper, we propose a doppler velocity log (DVL) aiding inertial navigation system for this hybrid AUV. So far, DVL has been one of most common aiding device for underwater strap down inertial navigation system (SDINS) [1]. However, in practice, DVL may briefly dropout due to noise, uneven surfaces, and loss of lock when too close to a surface [2]. This kind of DVL dropout effect on the proposed INS is investigated through post-processing of navigation sensor raw measurement data acquired in the field test in a river. On the other hand, four vectored thrusters are mounted on the vehicle's horizontal plane, and their thrust vector control (TVC) problem is also discussed in the paper.