Sine Rotation Vector Method for Attitude Estimation of an Underwater Robot

Sensors

Seokki Jeong¹  Youngchul Bae²  Nak Yong Ko³ 

[1] Department of Control and Instrumentation Engineering, Graduate school, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea;Division of Electrical, Electronic Communication and Computer Engineering, Chonnam National University, 50 Daehak-ro, Yeosu, Jeonnam 550-749, Korea;School of Electronic and Information Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea;

关键词: underwater vehicle;    underwater robot;    attitude;    sine rotation vector;    Euler angles;    attitude heading and reference system;    Doppler velocity log;   

DOI  :  10.3390/s16081213

来源: DOAJ

【 摘 要 】

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 magnetic-field measurements are transformed into sine rotation vectors and combined. The combined sine rotation vector is then transformed into the differences between the Euler angles of the measured attitude and the predicted attitude; the differences are used to correct the predicted attitude. The method was evaluated according to field-test data and simulation data and compared to existing methods that calculate angular differences directly without a preceding sine rotation vector transformation. The comparison verifies that the proposed method improves the attitude estimation performance.

【 授权许可】

Unknown