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1、ASURVEYOFUNDERWATERVEHICLENAVIGATION:RECENTADVANCESANDNEWCHALLENGESJamesC.Kinsey?RyanM.Eustice??LouisL.Whitcomb??DepartmentofMechanicalEngineeringTheJohnsHopkinsUniversityBaltimore,MarylandUSA??DepartmentofNavalArchitectureandMarineEngineeringUniversityofMichiganAnnArbor,MichiganUSAAbstract:Thepa
2、persurveysrecentadvancesinunderwatervehiclenavigationandidenti?esfutureresearchchallenges.Improvementsinunderwaternavigationsensortechnologyandunderwaternavigationalgorithmsareenablingnovelun-derwatervehiclesandnovelunderwatervehiclemissions.Thispaper?rstreviewsadvancesinunderwaternavigationsenso
3、rtechnology.Second,advancesindeter-ministicandstochasticunderwaternavigationmethodologiesandalgorithmsarereviewed.Finally,futurechallengesinunderwatervehiclenavigationarearticu-lated,includingnear-bottomnavigation,vehiclestateestimation,optimalsurvey,environmentalestimation,multiple-vehiclenaviga
4、tion,andmid-waternavigation.Advancesinvehiclenavigationwillenablenewmissionsforunderwatervehicle(commercial,scienti?c,andmilitary)whichwerepreviouslyconsideredimpracticalorinfeasible.1.INTRODUCTIONeras,haveservedasacatalystforthedevelop-mentofnovelnavigationmethodologies.ManyofThispaperreviewsrec
5、entadvancesinunder-thesemethodologiessupplementsensordatawithwatervehiclenavigationsensingandalgorithminformationfromdynamicorkinematicmodels.research,andidenti?esfuturechallengesinun-Thispaperconcludeswithadiscussionofcurrentderwatervehiclenavigation.Withinthelasttenresearchproblemsthatwillimpro
6、veourabilitytoyears,thedevelopmentofcommerciallyavailable,navigateoceanographicsubmersiblesandincreaseprecise,highupdateratenavigationsensorssuchthevalueofthesevehiclestotheoceanographicasDopplersonars,opticalgyrocompasses,andcommunity.inertialmeasurementunits(IMUs),haveservedtoThemotivationforim
7、provingunderwatervehi-complementtraditionalunderwatersensorssuchclenavigationarisesfromtheneedtoexpandasacousticpositioningsystems,magneticcom-thecapabilitiesofthesevehiclesandfurtherin-passes,andpressuredepthsensors.D
