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