Acoustic Underwater Navigation of the Phoenix Autonomous Underwater Vehicle UsingThe Divetracker System

摘要

Autonomous Underwater Vehicles (AUVs) require a navigation system in order toconduct useful functions. This research was an experimental investigation of the commercial DiveTracker underwater acoustic navigation system used onboard the NPS Phoenix AUV. Tests conducted with the DiveTracker system proved that the system could be used successfully in AUV navigation while submerged and revealed that more precise positioning could be obtained through postconditioning of the DiveTracker output ranges, rather than prefiltering.