A high accuracy navigation system for a tailless underwater glider

This paper describes an integrated control system architecture with a high accuracy navigation system for an underwater glider. To optimize the glider performances, a centralized control system called "Glider Integrated Control System (GICS)" is provided: part of this system oversees the navigation function, based on an INS reference. Unlike an UAV system, in our case, some important inertial navigation error terms cannot be neglected due to the peculiar mission.