In Situ Alignment Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment

摘要: This paper reports the development and experimental evaluation of two in situ least squares techniques for estimating alignment matrix Doppler sonars commonly used precision navigation oceanographic submersibles. Most previously reported methods addressed problem single degree-of-freedom heading using bottom-lock sonar data global positioning system (GPS) data. evaluates three calibration attitude sensors sensor available to vehicles at full ocean depth. The first technique provides a general linear estimate matrix. second results constrained group rotation matrices. performance these estimates is evaluated with laboratory remotely operated vehicle (ROV) field-deployed autonomous underwater (AUV). Experimental are which demonstrate that employing significantly improves precision. experiments show latter improve not only on set itself, but also provide improved over wide variety trajectories other than set.