Advanced Multi-Sensor Fusion Framework for Autonomous Underwater Vehicles
A comprehensive simulation suite for GPS-denied underwater navigation, integrating inertial systems, acoustic positioning, Doppler velocity logging, and terrain-aided navigation through optimal Kalman filtering for sub-meter positioning accuracy.
Real-Time Navigation Simulations & Visualizations
Visualize inertial navigation error propagation over time with configurable IMU parameters and observe unbounded drift without aiding.
Dead ReckoningInteractive Doppler Velocity Log integration showing dramatic drift reduction from 1-2% to < 0.2% of distance traveled.
Velocity AidingConfigure transponder arrays, visualize GDOP distributions, and understand geometric effects on positioning accuracy.
Acoustic NavigationReal-time bathymetric correlation using TERCOM algorithms with interactive map matching and confidence metrics.
Passive Navigation15-state EKF combining all sensors with real-time covariance evolution and Kalman gain visualization.
Sensor FusionUltra-short baseline system simulation with phase interferometry, bearing estimation, and range-dependent accuracy.
Mobile AcousticPlan AUV missions with waypoint navigation, predicted position uncertainty, and sensor coverage analysis.
Mission PlanningAnalyze navigation uncertainty growth under different sensor configurations and failure scenarios.
Performance AnalysisCompute geometric dilution of precision for custom transponder layouts and optimize array geometry.
Geometry OptimizationAnalyze Allan variance plots, estimate bias instabilities, and characterize inertial sensor performance.
Sensor AnalysisModel acoustic propagation with temperature/salinity/depth-dependent sound velocity and ray tracing.
Acoustic PhysicsRun 1000+ mission simulations with randomized sensor errors to characterize statistical performance.
Statistical AnalysisComprehensive Guides and References
Navigation System Components & Performance
| Sensor Type | Update Rate | Accuracy | Range/Altitude | Primary Function |
|---|---|---|---|---|
| IMU (Tactical-grade) | 100-200 Hz | 1-2% dist. drift | N/A | Dead reckoning |
| DVL (4-beam Janus) | 1-10 Hz | ±0.01 m/s or 0.2% | < 200 m altitude | Velocity aiding |
| LBL Acoustic | 0.2-1 Hz | < 1 m (0.05% range) | Up to 10 km | Absolute position |
| USBL Acoustic | 0.5-2 Hz | 1-5 m (1% range) | Up to 5 km | Absolute position |
| Pressure Sensor | 1-10 Hz | < 0.5 m | Full ocean depth | Depth measurement |
| Multi-beam Sonar | 0.1-1 Hz | 5-20 m CEP | Terrain-dependent | Terrain correlation |
Advanced Navigation Analysis and Optimization
Calculate error propagation, position uncertainty, and sensor requirements for custom mission profiles.
Optimize Kalman filter parameters, process noise, and measurement covariances for your application.
Record and replay navigation solutions, sensor measurements, and filter states for post-mission analysis.
Export simulation data in multiple formats (CSV, JSON, MATLAB, ROS bags) for further processing.
Run parameter sweeps, Monte Carlo simulations, and automated sensitivity analysis.
Create publication-quality plots, 3D trajectory visualization, and animated covariance ellipses.