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This paper introduces how to easily integrate the modular navigation system for the autonomous underwater vehicle (AUV), which consists of the various hardware and software modules. This paper is focused on how to build the integrated underwater navigation module which is applicable to various types of underwater vehicle rather than the core algorithm for the autonomous underwater navigation. The autonomous underwater navigation system consists of many software, hardware components and the systematic integration of these components is very important to build up the efficient navigation system within the given resources. In order to achieve this goal, we introduce the systematic integration manner developing the modular autonomous underwater navigation system based on Open Platform for Robotic Service (OPRoS) [1]. Keywords-autonomous; underwater; navigation; modular; OPRoS.

The Integrated Autonomous Underwater Navigation System based on Open Platform for Robotic Services