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Sensors 2019, 19(2), 330; https://doi.org/10.3390/s19020330

Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation

1
Department of Electronic 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
Department of Information and Communication Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea
*
Author to whom correspondence should be addressed.
Received: 1 December 2018 / Revised: 11 January 2019 / Accepted: 11 January 2019 / Published: 15 January 2019
(This article belongs to the Section Physical Sensors)
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Abstract

This paper proposes a method of estimating the attitude of an underwater vehicle. The proposed method uses two field measurements, namely, a gravitational field and a magnetic field represented in terms of vectors in three-dimensional space. In many existing methods that convert the measured field vectors into Euler angles, the yaw accuracy is affected by the uncertainty of the gravitational measurement and by the uncertainty of the magnetic field measurement. Additionally, previous methods have used the magnetic field measurement under the assumption that the magnetic field has only a horizontal component. The proposed method utilizes all field measurement components as they are, without converting them into Euler angles. The bias in the measured magnetic field vector is estimated and compensated to take full advantage of all measured field vector components. Because the proposed method deals with the measured field independently, uncertainties in the measured vectors affect the attitude estimation separately without adding up. The proposed method was tested by conducting navigation experiments with an unmanned underwater vehicle inside test tanks. The results were compared with those obtained by other methods, wherein the Euler angles converted from the measured field vectors were used as measurements. View Full-Text
Keywords: field measurement; gravitational field; magnetic field; attitude estimation; underwater vehicles; Kalman filter; Euler angles field measurement; gravitational field; magnetic field; attitude estimation; underwater vehicles; Kalman filter; Euler angles
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Ko, N.Y.; Jeong, S.; Hwang, S.-S.; Pyun, J.-Y. Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation. Sensors 2019, 19, 330.

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