Navigation of a Remotely Operated Underwater Vehicle Using IMU and DVL

This paper describes a method for navigation of a remotely operated vehicle (ROV), application of the method, and comparison of the method with others. The proposed method deals with navigation which is based on inertial measurement units (IMUs), Doppler velocity log (DVL), and position fix sensors such as ultra-short baseline (USBL) and short baseline (SBL). The method estimates and compensates the misalignment between IMU and DVL. The proposed method is tested in a test pool and open sea environment. The results verify that compensation of misalignment improves the navigation performance.