TY - GEN
T1 - Attitude determination of autonomous underwater vehicles based on pressure sensor array
AU - Shang, Zhigang
AU - Ma, Xiaochuan
AU - Liu, Yu
AU - Yan, Shefeng
N1 - Publisher Copyright:
© 2015 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2015/9/11
Y1 - 2015/9/11
N2 - Autonomous Underwater Vehicles (AUVs) are widely used in the marine exploration. Attitude determination is an important part for AUV to achieve its designed mission. This paper presents a novel sensor array constituted by four pressure sensors. Based on the theoretical analysis, the relationship between the measurements of pressure sensors and the attitudes is established. In order to verify the effectiveness of the proposed configuration, we design a multi-sensor integrated system of AUV combined with triaxial gyroscope, magnetic compass and pressure sensor array. The quaternion model and Extended Kalman filter (EKF) are selected to estimate the attitudes. The simulation results accord with the analysis to demonstrate that the proposed configuration is effective to improve the accuracy of the attitudes.
AB - Autonomous Underwater Vehicles (AUVs) are widely used in the marine exploration. Attitude determination is an important part for AUV to achieve its designed mission. This paper presents a novel sensor array constituted by four pressure sensors. Based on the theoretical analysis, the relationship between the measurements of pressure sensors and the attitudes is established. In order to verify the effectiveness of the proposed configuration, we design a multi-sensor integrated system of AUV combined with triaxial gyroscope, magnetic compass and pressure sensor array. The quaternion model and Extended Kalman filter (EKF) are selected to estimate the attitudes. The simulation results accord with the analysis to demonstrate that the proposed configuration is effective to improve the accuracy of the attitudes.
KW - Attitude determination
KW - Autonomous Underwater Vehicle
KW - Extended Kalman filter
KW - Pressure sensor array
KW - multisensor integrated system
UR - http://www.scopus.com/inward/record.url?scp=84946558911&partnerID=8YFLogxK
U2 - 10.1109/ChiCC.2015.7260501
DO - 10.1109/ChiCC.2015.7260501
M3 - Conference contribution
AN - SCOPUS:84946558911
T3 - Chinese Control Conference, CCC
SP - 5517
EP - 5520
BT - Proceedings of the 34th Chinese Control Conference, CCC 2015
A2 - Zhao, Qianchuan
A2 - Liu, Shirong
PB - IEEE Computer Society
T2 - 34th Chinese Control Conference, CCC 2015
Y2 - 28 July 2015 through 30 July 2015
ER -
