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Attitude determination improvement in accelerated motions for maneuvering underwater vehicles

Mirzaei, M ; Sharif University of Technology | 2020

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  1. Type of Document: Article
  2. DOI: 10.1016/j.apor.2020.102355
  3. Publisher: Elsevier Ltd , 2020
  4. Abstract:
  5. Attitude determination for underwater vehicles in control and navigation applications has been always an important issue. MEMS-based accelerometer and gyroscope data can be usually used to determine the underwater vehicle attitude. However, the gyroscope sensors suffer from bias problem and the accelerometer data is not reliable in the presence of the external acceleration for the attitude determination. Therefore, data fusion for these two sensors is used to determine the attitude. But it should be noted that the common fusion algorithm does not perceive some special maneuvering accelerated motions and the use of accelerometer data causes a mistake in determining the Euler angles in these situations. Therefore, an algorithm which detects the external acceleration and prevents the use of accelerometer data in the fusion is extremely necessary for these situations. In this paper, an adaptive extended Kalman filter based on the quaternions is used by consideration of the effect of side accelerations to improve the detection of the maneuvering accelerated motions and reduce its weight in the fusion algorithm. An underwater motion simulator has been experimentally used and compared with the traditional methods to demonstrate the effectiveness of the proposed method. © 2020 Elsevier Ltd
  6. Keywords:
  7. Accelerated motions ; Attitude determination ; Mems-based accelerometer and gyroscope ; Side acceleration ; Accelerometers ; Data fusion ; Gyroscopes ; Kalman filters ; Accelerated motion ; Accelerometer data ; Adaptive extended Kalman filters ; Fusion algorithms ; Gyroscope sensors ; Motion simulator ; Underwater vehicles ; Maneuverability ; Data set ; Navigation ; Ship motion
  8. Source: Applied Ocean Research ; Volume 104 , November , 2020
  9. URL: https://www.sciencedirect.com/journal/applied-ocean-research/vol/104/suppl/C