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Article

Dead Reckoning for Trajectory Estimation of Underwater Drifters under Water Currents

by *,‡ and
Department of Marine Technologies, University of Haifa, Haifa 3498838, Israel
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
J. Mar. Sci. Eng. 2020, 8(3), 205; https://doi.org/10.3390/jmse8030205
Received: 21 January 2020 / Revised: 28 February 2020 / Accepted: 13 March 2020 / Published: 16 March 2020
(This article belongs to the Section Ocean Engineering)
Between external position updates, the most useful technique for trajectory estimation of a submerged drifter is dead reckoning (DR). These devices drift with the water current to measure the current’s velocity or to observe physical phenomena. We focus on the specific but important case of when the drifter, due to its size and shape, experiences acceleration by the water current, an effect that must be taken into account during the DR. The force induced by the water current over the drifter is translated into a shift in the heading direction, thus creating a horizontal (sideslip) and a vertical (angle of attack) directional angles between the drifter’s moving direction and its body frame. In this paper, we extend and modify techniques used for pedestrian DR and propose PCA-DR: a principle component analysis-based DR algorithm to estimate the directional angles. Used for cases where the water current is significant such that its force induces acceleration over the drifter and used only for short time periods of a few seconds between navigation fixes, PCA-DR uses acceleration measurements only and does not assume knowledge of the drifter’s dynamics. Instead, as part of the DR process, PCA-DR estimates the directional angles induced by the water current. Compared to the traditional DR approach, our results demonstrate good navigation performance. A designated sea experiment demonstrates the applicability of PCA-DR in a realistic sea environment. View Full-Text
Keywords: principal component analysis (PCA); underwater navigation; subsea drifter; dead reckoning; sideslip angle; angle of attack principal component analysis (PCA); underwater navigation; subsea drifter; dead reckoning; sideslip angle; angle of attack
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MDPI and ACS Style

Klein, I.; Diamant, R. Dead Reckoning for Trajectory Estimation of Underwater Drifters under Water Currents . J. Mar. Sci. Eng. 2020, 8, 205. https://doi.org/10.3390/jmse8030205

AMA Style

Klein I, Diamant R. Dead Reckoning for Trajectory Estimation of Underwater Drifters under Water Currents . Journal of Marine Science and Engineering. 2020; 8(3):205. https://doi.org/10.3390/jmse8030205

Chicago/Turabian Style

Klein, Itzik, and Roee Diamant. 2020. "Dead Reckoning for Trajectory Estimation of Underwater Drifters under Water Currents " Journal of Marine Science and Engineering 8, no. 3: 205. https://doi.org/10.3390/jmse8030205

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