This paper presents an integrated underwater navigation algorithm for autonomous underwater vehicles (AUV) using movable surface reference stations which can transmit data packet to the AUV via acoustic modem with synchronous timer. This paper proposes a measurement model with the two range measurements that can improve the performance of an IMU-DVL navigation system for long-time operation under coastal minefield.

Keywords: autonomous underwater vehicle (AUV) 자율무인 잠수정, inertial measurement unit 관성측정기, underwater navigation 수중항법