The Improvement of the Prescision of an Inertial Navigation System for AUV based on the Neural Network

"URASHIMA" is an Autonomous Underwater Vehicle which was developed in Japan Agency for Marine-Earth Science and Technology in Japan. "URASHIMA" has the Inertial Navigation System in order to know its own current position, and it can cruise autonomously owing to the position data. However the position data includes some error which increases with the passage of time. In this paper, the method to improve the precision of the Inertial Navigation System based on the neural network is described. The network outputs the position data, which compensates the error of the position data calculated from it.