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Improved Navigation and Guidance System of AUV Using Sensors Fusion

Hatem A. Khater1, Ashraf. Elsayed2,3, and Noha. El-Shoafy3
1. Department of Mechatronics, Faculty of Engineering, Horus University, Egypt
2. Department of Applied Mathematics and Information Science, Zewail city of Science and Technology, Giza, Egypt
3. Department of Mathematics and Computer Science at Faculty of Science, Alexandria University, Alexandria, Egypt

Abstract—Improved navigation and guidance system of Autonomous Underwater Vehicle (AUV) is a most important assignment for most researchers, specifically in difficult environments such as the ocean. In ocean environment, the AUV needs a reliable navigation and guidance system to navigate and guidance AUV in the desired path with high efficiency. The proposed method for improving navigation system of AUV is based on integrated MEMS smartphone sensors by the collected data from Doppler Velocity Log (DVL), depth, and compass sensors via Loosely Coupled Kalman Filter (KF). The Loosely Coupled KF is used to estimate and correct velocity and attitude errors of AUV navigation system by DVL, depth and compass measurements, respectively. The practice device of AUV is based on Ultrasonic sensors, microcontroller, depth, and digital circuit sensors. The ultrasonic sensor is used to detect boundaries in the route of AUV. The depth sensor is used to dive the AUV in the required depth. The microcontroller and digital circuit are usage to rule the motion and direction of AUV in the required path. The AUV is examined in a testbed at depth of 7 meters from water surface. There are three obstacles are placed in the direction of AUV to check its efficiency. During tests, the AUV is capable to reach the target place with high efficiency. After that, it returned back to the base station accordance to saved direction in its reminiscence with full effectiveness also.
Index Terms—AUV, Smartphone MEMS Sensors, DVL, Ultrasonic sensor, Depth Sensor, Digital compass, Microcontroller and Testbed

Cite: Hatem A. Khater, Ashraf. Elsayed, and Noha. El-Shoafy, "Improved Navigation and Guidance System of AUV Using Sensors Fusion," Journal of Communications vol. 15, no. 6, pp. 455-468, June 2020. Doi: 10.12720/jcm.15.6.455-468

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.