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Sensors 2015, 15(1), 1825-1860; doi:10.3390/s150101825

Inertial Sensor Self-Calibration in a Visually-Aided Navigation Approach for a Micro-AUV

Systems, Robotics and Vision, Department of Mathematics and Computer Science, University of the Balearic Islands, Cra de Valldemossa, km 7.5, Palma de Mallorca 07122, Spain
Balearic Islands Coastal Observing and Forecasting System (SOCIB), Data Center Parc Bit, Naorte, Bloc A, 2op. pta. 3, Palma de Mallorca 07121, Spain
Author to whom correspondence should be addressed.
Received: 29 July 2014 / Accepted: 29 December 2014 / Published: 16 January 2015
(This article belongs to the Special Issue Inertial Sensors and Systems)
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This paper presents a new solution for underwater observation, image recording, mapping and 3D reconstruction in shallow waters. The platform, designed as a research and testing tool, is based on a small underwater robot equipped with a MEMS-based IMU, two stereo cameras and a pressure sensor. The data given by the sensors are fused, adjusted and corrected in a multiplicative error state Kalman filter (MESKF), which returns a single vector with the pose and twist of the vehicle and the biases of the inertial sensors (the accelerometer and the gyroscope). The inclusion of these biases in the state vector permits their self-calibration and stabilization, improving the estimates of the robot orientation. Experiments in controlled underwater scenarios and in the sea have demonstrated a satisfactory performance and the capacity of the vehicle to operate in real environments and in real time. View Full-Text
Keywords: sensor fusion; visual localization; autonomous underwater vehicles; underwater landscape sensor fusion; visual localization; autonomous underwater vehicles; underwater landscape

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Bonin-Font, F.; Massot-Campos, M.; Negre-Carrasco, P.L.; Oliver-Codina, G.; Beltran, J.P. Inertial Sensor Self-Calibration in a Visually-Aided Navigation Approach for a Micro-AUV. Sensors 2015, 15, 1825-1860.

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