Underwater Navigation Systems for Autonomous Underwater Vehicle Sachi Choudhary (&) , Rashmi Sharma, Amit Kumar Mondal, and Vindhya Devalla University of Petroleum and Energy Studies, Dehradun, Uttarakhand, India sachi.choudhary1617@gmail.com Abstract. Over the past few decades, researchers, navy of different countries and different organizations related to maritime archaeology, underwater mines & pipelines etc. had paid considerable attention towards underwater surveying & inspection by autonomous robot or vehicle. Considerable improvements for better AUV navigation have seen in different sensors in recent years. The sensors are available with not only improved performance but lesser cost and reduced size as well. In addition to these developments, huge improvements in path planning of AUVs have also seen with advanced navigation techniques & algorithm such as SLAM. This paper presents a survey on some important navigation systems for AUV. These techniques can be used to calculate the current position or to localize the robot/vehicle underwater. Keywords: Autonomous Underwater Vehicle (AUV) Á Inertial navigation Acoustic navigation Á Geophysical navigation 1 Introduction Underwater divers & archaeologist have to dive underwater for information collection previously. As human body is not physiologically and anatomically well adapted to the underwater environmental, divers have to face lots of challenges like immersion, exposure, breath hold limitation, ambient pressure change etc. To overcome the problems of underwater divers lots of equipment have been developed which also helps in increasing depth range as well as time. Again diving activities are restricted to depths range even after wearing atmospheric suits and to conditions which are not extremely risky. So to explore the underwater area, development & enhancement of unmanned underwater vehicles (UUV) have been a major area of research from past few decades. UUVs are classified into two categories as mentioned in Sect. 2 of this paper. This paper more focuses on AUV navigation & localization. AUV navigation & self-localization is a challenging task due to penetration of radio waves & GPS signals underwater [6]. Radio waves can be used for communication at shallow depth. Acoustic based sensors perform better for underwater communication. The traditional sensors for navigation are magnetic compass, pressure depth sensors, acoustic navigation systems etc. From last few decades there is a huge development in © Springer Nature Singapore Pte Ltd. 2018 P. Bhattacharyya et al. (Eds.): NGCT 2017, CCIS 828, pp. 238–245, 2018. https://doi.org/10.1007/978-981-10-8660-1_18