Attitude determination of autonomous underwater vehicles based on pressure sensor array

Zhigang Shang; Xiaochuan Ma; Yu Liu; Shefeng Yan

doi:10.1109/ChiCC.2015.7260501

Attitude determination of autonomous underwater vehicles based on pressure sensor array

Zhigang Shang
, Xiaochuan Ma
, Yu Liu
, Shefeng Yan

Chinese Academy of Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 34th Chinese Control Conference, CCC 2015
Editors	Qianchuan Zhao, Shirong Liu
Publisher	IEEE Computer Society
Pages	5517-5520
Number of pages	4
ISBN (Electronic)	9789881563897
DOIs	https://doi.org/10.1109/ChiCC.2015.7260501
Publication status	Published - 11 Sept 2015
Externally published	Yes
Event	34th Chinese Control Conference, CCC 2015 - Hangzhou, China Duration: 28 Jul 2015 → 30 Jul 2015

Publication series

Name	Chinese Control Conference, CCC
Volume	2015-September
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	34th Chinese Control Conference, CCC 2015
Country/Territory	China
City	Hangzhou
Period	28/07/15 → 30/07/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

Attitude determination
Autonomous Underwater Vehicle
Extended Kalman filter
Pressure sensor array
multisensor integrated system

Access to Document

10.1109/ChiCC.2015.7260501

Cite this

Shang, Z., Ma, X., Liu, Y., & Yan, S. (2015). Attitude determination of autonomous underwater vehicles based on pressure sensor array. In Q. Zhao, & S. Liu (Eds.), Proceedings of the 34th Chinese Control Conference, CCC 2015 (pp. 5517-5520). Article 7260501 (Chinese Control Conference, CCC; Vol. 2015-September). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2015.7260501

@inproceedings{9a3b7877ca504b448fbe000e4f29b29b,

title = "Attitude determination of autonomous underwater vehicles based on pressure sensor array",

abstract = "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.",

keywords = "Attitude determination, Autonomous Underwater Vehicle, Extended Kalman filter, Pressure sensor array, multisensor integrated system",

author = "Zhigang Shang and Xiaochuan Ma and Yu Liu and Shefeng Yan",

note = "Publisher Copyright: {\textcopyright} 2015 Technical Committee on Control Theory, Chinese Association of Automation.; 34th Chinese Control Conference, CCC 2015 ; Conference date: 28-07-2015 Through 30-07-2015",

year = "2015",

month = sep,

day = "11",

doi = "10.1109/ChiCC.2015.7260501",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "5517--5520",

editor = "Qianchuan Zhao and Shirong Liu",

booktitle = "Proceedings of the 34th Chinese Control Conference, CCC 2015",

address = "United States",

}

Shang, Z, Ma, X, Liu, Y & Yan, S 2015, Attitude determination of autonomous underwater vehicles based on pressure sensor array. in Q Zhao & S Liu (eds), Proceedings of the 34th Chinese Control Conference, CCC 2015., 7260501, Chinese Control Conference, CCC, vol. 2015-September, IEEE Computer Society, pp. 5517-5520, 34th Chinese Control Conference, CCC 2015, Hangzhou, China, 28/07/15. https://doi.org/10.1109/ChiCC.2015.7260501

Attitude determination of autonomous underwater vehicles based on pressure sensor array. / Shang, Zhigang; Ma, Xiaochuan; Liu, Yu et al.
Proceedings of the 34th Chinese Control Conference, CCC 2015. ed. / Qianchuan Zhao; Shirong Liu. IEEE Computer Society, 2015. p. 5517-5520 7260501 (Chinese Control Conference, CCC; Vol. 2015-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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 - https://www.scopus.com/pages/publications/84946558911

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 -

Attitude determination of autonomous underwater vehicles based on pressure sensor array

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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