Paper Info
Title
Field Performance Evaluation Of New Methods For In-Situ Calibration Of Attitude And Doppler Sensors For Underwater Vehicle Navigation
Abstract
We report a comparative performance evaluation, using at-sea field data, of recently reported methods for the problem of in-situ calibration of the alignment rotation matrix between Doppler sonar velocity sensors and inertial navigation sensors arising in the navigation of underwater vehicles. Most previously reported solutions to this alignment calibration problem require the use of absolute navigation fixes of the underwater vehicle, thus requiring additional navigation sensors and/or beacons to be located externally and apart from the underwater vehicle. We briefly review four recently reported alignment calibration methods employing only internal vehicle navigation sensors for velocity, acceleration, attitude, and depth. We report the results of comparative analysis of the performance of these recently reported methods and a previously reported method with navigation data from deep-water survey missions of the Sentry autonomous underwater vehicle conducted in March, 2011 in the Kermadec Arc in the Southern Pacific Ocean. The results reveal consistent differences in performance of the various methods when analyzed on navigation data from several different vehicle dives.
Year
DOI
Venue
2012
10.1109/ICRA.2012.6225249
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Keywords
Field
DocType
doppler effect,comparative analysis,sensors,inertial navigation,calibration,sonar
Beacon,Inertial navigation system,Doppler radar,Sentry,Remote sensing,Sonar,Acceleration,Engineering,Doppler effect,Underwater
Conference
Volume
Issue
ISSN
2012
1
1050-4729
Citations 
PageRank 
References 
0
0.34
3
Authors
4
Name
Order
Citations
PageRank
Giancarlo Troni1214.17
James C. Kinsey2206.49
Dana R. Yoerger316839.57
Louis L. Whitcomb4653114.13