Autonomous Underwater Vehicle

Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation
Precise Time Delay …

Research Overview

Time misalignment between acoustic positioning systems and inertial navigation sensors is a critical yet often underappreciated source of error in underwater integrated navigation. This work proposes a tightly coupled SINS/piUSBL/depth gauge navigation framework that explicitly …

March 9, 2026 Read
GNSS-aided installation error compensation for DVL/INS integrated navigation system using error-state Kalman filter
GNSS-aided installation …

Research Overview

This work addresses installation errors of Doppler Velocity Log (DVL) sensors in SINS/DVL integrated navigation for autonomous underwater vehicles (AUVs). It proposes a GNSS-aided strategy to estimate and compensate DVL misalignment and lever-arm errors rather than treating them as …

January 28, 2026 Read