Preliminary field experience with the DVLNAV integrated navigation system for oceanographic submersibles. Control Engineering Practice

J. C. Kinsey and L. L. Whitcomb. Control Engineering Practice, 12(12):1541- 1548, 2004.

This paper reports the development and field testing of DVLNAV, an interactive program for precision three-dimensional navigation of underwater vehicles. The goal of this system is to provide vehicle position and velocity navigation data with both the precision and update rate necessary to enable closed-loop vehicle control. We report the results of preliminary field trials of DVLNAV with the Jason II underwater robot. The performance of bottom lock Doppler navigation is evaluated with
respect to long baseline acoustic navigation.