Underwater navigation based on themultiple

Thispaper presents theunderwater navigation algorithm basedon a multiple sensor fusion forthedeep-sea unmannedunderwater vehicles (UUV), composed oftwovehicles, a remotely operated vehicle (ROV)'Hemire' anda depressor 'Henuvy'. Theperformance ofunderwater positioning system usually highly depend on thatofacoustic sensorssuchas ultra shortbaseline(USBL), longbaseline(LBL) andaltimeter. A sensor fusion basedoutlier rejection algorithm issuggested to reject thespurious acoustic position measurement. Thebenefits of algorithm illustrated usingthesea trialdatawhichwere conducted attheEastSea. IndexTerms- Deep-sea ROV, Multiple sensor fusion, Underwater navigation.