Abstract
HUGIN is an untethered underwater vehicle (UUV) intended for bathymetric data collection for detailed seabed surveying. The HUGIN sensor suite, consisting of standard commercially available navigation sensors and a multibeam echosounder, is reviewed with respect to accuracy and important characteristics. A Kalman filter for post processing integration of UUV sensors and survey vessel sensors is described. We present a complete error budget and discuss the resulting positioning accuracy of the digital terrain model that has been achieved with the HUGIN UUV. Finally we show how the claimed positioning accuracy has been verified.
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