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Sensors 2016, 16(8), 1213; doi:10.3390/s16081213

Sine Rotation Vector Method for Attitude Estimation of an Underwater Robot

1,* , 2,†
and
3,†
1
School of Electronic and Information Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea
2
Department of Control and Instrumentation Engineering, Graduate school, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea
3
Division of Electrical, Electronic Communication and Computer Engineering, Chonnam National University, 50 Daehak-ro, Yeosu, Jeonnam 550-749, Korea
These authors contributed equally to this work.
*
Author to whom correspondence should be addressed.
Academic Editors: Suk-Seung Hwang, Euntai Kim, Sungshin Kim and Keon Myung Lee
Received: 21 April 2016 / Revised: 27 July 2016 / Accepted: 28 July 2016 / Published: 2 August 2016
View Full-Text   |   Download PDF [7435 KB, uploaded 2 August 2016]   |  

Abstract

This paper describes a method for estimating the attitude of an underwater robot. The method employs a new concept of sine rotation vector and uses both an attitude heading and reference system (AHRS) and a Doppler velocity log (DVL) for the purpose of measurement. First, the acceleration and magnetic-field measurements are transformed into sine rotation vectors and combined. The combined sine rotation vector is then transformed into the differences between the Euler angles of the measured attitude and the predicted attitude; the differences are used to correct the predicted attitude. The method was evaluated according to field-test data and simulation data and compared to existing methods that calculate angular differences directly without a preceding sine rotation vector transformation. The comparison verifies that the proposed method improves the attitude estimation performance. View Full-Text
Keywords: underwater vehicle; underwater robot; attitude; sine rotation vector; Euler angles; attitude heading and reference system; Doppler velocity log underwater vehicle; underwater robot; attitude; sine rotation vector; Euler angles; attitude heading and reference system; Doppler velocity log
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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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MDPI and ACS Style

Ko, N.Y.; Jeong, S.; Bae, Y. Sine Rotation Vector Method for Attitude Estimation of an Underwater Robot. Sensors 2016, 16, 1213.

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