Idioma:

Dynamic initial coarse alignment of SINS for AUV using the velocity loci and pressure sensor

Yuan, Dongyu ; Ma, Xiaochuan ; Liu, Yu ; Hao, Chengpeng ; Zhu, Yun

IET science, measurement & technology, 2016-11, Vol.10 (8), p.926-933 [Periódico revisado por pares]

The Institution of Engineering and Technology

Texto completo disponível

Citações Citado por

Enviar para

Título:
Dynamic initial coarse alignment of SINS for AUV using the velocity loci and pressure sensor
Autor: Yuan, Dongyu ; Ma, Xiaochuan ; Liu, Yu ; Hao, Chengpeng ; Zhu, Yun
Assuntos: Alignment ; attitude estimation problem ; attitude measurement ; autonomous underwater vehicle ; Autonomous underwater vehicles ; AUV ; dynamic initial coarse alignment ; Dynamics ; estimation theory ; High speed ; inertial measurement unit ; inertial navigation ; Motors ; Navigation systems ; OBA scheme ; optimisation ; optimisation‐based alignment scheme ; pressure measurement ; pressure sensor measurement ; Pressure sensors ; quasistatic ground alignment ; SINS ; static ground alignment ; Strapdown inertial navigation ; strapdown inertial navigation system ; velocity loci sensor ; velocity measurement ; Wahba problem
É parte de: IET science, measurement & technology, 2016-11, Vol.10 (8), p.926-933
Notas: ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
Descrição: For the high-speed and light autonomous underwater vehicle (AUV), it is moving freely, and the speed and attitude are in dynamic movement. Then, the traditional static and quasi-static ground alignment cannot be used any more. Using the optimisation-based alignment (OBA) scheme, this study presents a novel estimation method for fast initial coarse alignment of a AUV's strapdown inertial navigation system (SINS). The novel OBA method use the inertial measurement unit, the pressure sensor measurements and the navigational velocity νv in v-frame produced by the motor thrust to solve the attitude estimation problem which is known as Wahba's problem. Unlike several current techniques, the presented estimation method is effective to any movement form. The simulation results show that the attitude determined by this novel method can meet the accuracy requirement of coarse alignment and it can be used as input for the fine alignment.
Editor: The Institution of Engineering and Technology
Idioma: Inglês

Voltar para lista de resultados

Realização: Logos de Redes Sociais:

Dynamic initial coarse alignment of SINS for AUV using the velocity loci and pressure sensor

Yuan, Dongyu ; Ma, Xiaochuan ; Liu, Yu ; Hao, Chengpeng ; Zhu, Yun

The Institution of Engineering and Technology

Buscando em bases de dados remotas. Favor aguardar.