Multi-sensor Information Fusion Technology In Auv Navigation

The main problem addressed by this research is to the use of Kalman filtering and Neural Net techniques to accurately determine the position of an Autonomous Underwater Vehicle(AUV) during all phases of an under water search.This thesis presents introduced the Multi-sensor Data Fusion technology and recent improvements to the Small AUV Navigation System (SANS) hardware and software. The hardware system of SANS was completed , and some parts of the software was developed . By taking a series of experimentation and simulation, a new research method to the application of Data Fusion was introduced.