Abstract

MARTINEZ CARVAJAL, Blanca Viviana; SIERRA BUENO, Daniel Alfonso  and  VILLAMIZAR MEJIA, Rodolfo. Recent advances in navigation of underwater remotely operated vehicles. Rev.fac.ing.univ. Antioquia [online]. 2013, n.69, pp.152-163. ISSN 0120-6230.

A review of the most significant technical papers related to the navigation of underwater remotely operated vehicles is presented, with special interest in aided inertial navigation. Sensors used for implementation, fusion algorithms and models that describe the navigation systems are presented. From this review, it was concluded that the implementation of an estimator, based on the vehicle kinematic and dynamic models, limits the growth of the estimated error, even in case that the only available information is that provided by an inertial measurement unit.

Keywords : Aided inertial navigation; underwater navigation; underwater remotely operated vehicles.