Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation
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 v...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-01-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/19/2/330 |
| _version_ | 1798003743497650176 |
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| author | Nak Yong Ko Seokki Jeong Suk-seung Hwang Jae-Young Pyun |
| author_facet | Nak Yong Ko Seokki Jeong Suk-seung Hwang Jae-Young Pyun |
| author_sort | Nak Yong Ko |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T12:13:39Z |
| format | Article |
| id | doaj.art-2eb6ebf26d504266966a0f4037d629a6 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T12:13:39Z |
| publishDate | 2019-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-2eb6ebf26d504266966a0f4037d629a62022-12-22T04:24:29ZengMDPI AGSensors1424-82202019-01-0119233010.3390/s19020330s19020330Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias CompensationNak Yong Ko0Seokki Jeong1Suk-seung Hwang2Jae-Young Pyun3Department of Electronic Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, KoreaDepartment of Control and Instrumentation Engineering, Graduate School, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, KoreaDepartment of Electronic Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, KoreaDepartment of Information and Communication Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, KoreaThis 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.http://www.mdpi.com/1424-8220/19/2/330field measurementgravitational fieldmagnetic fieldattitude estimationunderwater vehiclesKalman filterEuler angles |
| spellingShingle | Nak Yong Ko Seokki Jeong Suk-seung Hwang Jae-Young Pyun Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation Sensors field measurement gravitational field magnetic field attitude estimation underwater vehicles Kalman filter Euler angles |
| title | Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation |
| title_full | Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation |
| title_fullStr | Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation |
| title_full_unstemmed | Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation |
| title_short | Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation |
| title_sort | attitude estimation of underwater vehicles using field measurements and bias compensation |
| topic | field measurement gravitational field magnetic field attitude estimation underwater vehicles Kalman filter Euler angles |
| url | http://www.mdpi.com/1424-8220/19/2/330 |
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