Dead Reckoning for Trajectory Estimation of Underwater Drifters under Water Currents †
Abstract
:1. Introduction
- Inertial Navigation Systems (INSs): An INS uses accelerometers and gyroscopes and requires initial conditions to calculate the device state through dead reckoning (DR). Although the full state can be determined by the INS, it suffers from an inherent drift. This is because the INS-measured quantities contain noises and biases that are integrated to obtain the device state [4]. Therefore, INSs are usually fused with external sensors [5] or information about the environment [6,7] to compensate for this drift.
- Acoustic Localization: Acoustic localization provides the navigation system with position fixes by measuring the device’s range to nodes of known positions, referred to as anchors. Acoustic ranging is based on measuring the time-of-flight (TOF), the time-difference-of-flight (TDOF), or the signal strength of an acoustic signal from the anchor to the submerged device. Ranging can be carried out passively or actively, but in either case requires the existence of at least one anchor in the acoustic range [8,9].
1.1. Scope of Work
1.2. Contribution
- a compensation for the directional angles when DR navigation is required;
- the estimation of directional angles using acceleration measurements only for short time periods of a few seconds between two successive position updates;
- a simplified DR approach for submerged floaters under the effect of directional angles for online/offline trajectory estimation.
2. Preliminaries
2.1. Approaches for Underwater Dead Reckoning
2.2. Common Approaches for Sideslip Angle Estimation
2.3. Coordinate Frames and Transformations
2.4. Principle Component Analysis (PCA)
3. Applying the PCA Approach for Underwater Navigation
3.1. System Model
3.2. Estimating the Directional Angles
4. PCA-DR Navigation
4.1. The DR Solution
4.2. Summary of PCA-DR Approach
4.3. Impact of Errors in Estimating the Directional Angles
5. Analysis and Results
5.1. Numerical Investigation
5.2. Experimental Investigation
5.3. Discussion
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Time [s] | 3 | 4 | 5 | 6 | 7 | 8 | 10 |
---|---|---|---|---|---|---|---|
True angle [deg] | 0 | 2.03 | 2.04 | 2.35 | 2.34 | 2.81 | 2.89 |
PCA angle [deg] | 0.02 | 1.57 | 1.59 | 1.60 | 1.57 | 1.64 | 0.34 |
Error [deg] | 0.02 | 0.46 | 0.45 | 0.75 | 0.77 | 1.16 | 2.55 |
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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
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 StyleKlein, 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