DocumentCode
2595757
Title
Log sensor calibration using M-estimate
Author
Daxiong, Ji ; Jian, Liu ; Kaizhou, Liu
Author_Institution
Dept. of Underwater Robot., Chinese Acad. of Sci., Shenyang, China
fYear
2010
fDate
24-27 May 2010
Firstpage
1
Lastpage
3
Abstract
A calibration problem for log sensor of UUV is established and the problem can be divided into two separate parts: misalignment angle and scale factor of log sensor. Instead of using the conventional least square algorithm, a fine calibration approach based on M-estimate is used to suppress the effect of non-white noise. The adaptive factor relation to calibration precision is brought forward which is different from usual forgetting factor. The feasibility of the approach is demonstrated in the test of sea trail.
Keywords
calibration; least mean squares methods; remotely operated vehicles; sensors; UUV; calibration; least square algorithm; log sensor; non-white noise; Calibration; Compass; Global Positioning System; Noise; Robot sensing systems; Robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS 2010 IEEE - Sydney
Conference_Location
Sydney, NSW
Print_ISBN
978-1-4244-5221-7
Electronic_ISBN
978-1-4244-5222-4
Type
conf
DOI
10.1109/OCEANSSYD.2010.5603573
Filename
5603573
Link To Document