Experimental evaluation of a MEMS inertial measurements unit for Doppler navigation of underwater vehicles
作者： Giancarlo Troni , L. L. Whitcomb
DOI: 10.1109/OCEANS.2012.6405003
关键词:
摘要: This paper reports the results of an in-water laboratory experimental evaluation attitude estimation accuracy a low-cost micro-electro-mechanical systems (MEMS) and heading reference system (AHRS), effect this sensor on Doppler-based underwater navigation. We report comparative analysis Doppler navigation obtained employing MEMS AHRS in comparison to with high-accuracy inertial (INS) including true-North-seeking gyrocompass high precision accelerometers. The data indicate that performance is sensitive instrument calibration Doppler/AHRS alignment calibration, magnetometers for hard-iron & soft-iron errors, angular rate sensors. When carefully calibrated, error shown be within order-of-magnitude high-end INS conditions vehicle trajectories studied. goal quantify using AHRS. These may useful development lower-cost small vehicles.
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