An Integrated AUV Navigation Method Using Bayes Filtering

A framework of integrated navigation for autonomous under-water vehicle (AUV) is presented based on Bayes filtering. The observation data of the framework include the initial surface position of the AUV recorded by GPS, the AUV position/pose parameters underwater obtained via the inertial navigation system/doppler velocity log, and the seafloor feature information detected by an imaging sonar. All the data are fused by Bayes filtering and the AUV position/pose parameters are estimated in a combined manner. This framework of integrated navigation may achieve robust and high-precision navigation for AUV operated medium to long distance.