Sine Rotation Vector Method for Attitude Estimation of an Underwater Robot

Sine Rotation Vector Method for Attitude Estimation of an Underwater Robot

This paper describes a method for estimating the attitude of an underwater robot. The method employs a new concept of sine rotation vector and uses both an attitude heading and reference system (AHRS) and a Doppler velocity log (DVL) for the purpose of measurement. First, the acceleration and magnet...

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Bibliographic Details
Main Authors: Nak Yong Ko, Seokki Jeong, Youngchul Bae
Format: Article
Language:English
Published: MDPI AG 2016-08-01
Series:Sensors
Subjects:
underwater vehicle
underwater robot
attitude
sine rotation vector
Euler angles
attitude heading and reference system
Doppler velocity log
Online Access:http://www.mdpi.com/1424-8220/16/8/1213

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