Title :
Study on algorithm for small AUV attitude estimation from vector observations
Author :
Sun, Yao ; Zhang, Qiang ; Wan, Lei
Author_Institution :
Dept. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
In this paper, equivalent tilt error models are derived which are applicable to the alignment of the small AUV attitude and heading reference system (AHRS), using quaternions in the body frame approach. And they are compared with the error models which use quaternions directly from the view of computational burdens. Based on the equivalent tilt error models, an alignment algorithm is developed for the AHRS to reduce its initial tilt angle error, which could be used in moving base alignment.
Keywords :
attitude control; mobile robots; observers; remotely operated vehicles; underwater vehicles; vectors; AHRS; alignment algorithm; attitude and heading reference system; quaternions; small AUV attitude estimation; tilt angle error; tilt error model; vector observation; Automation; Computer errors; Dead reckoning; Inertial navigation; Magnetometers; Mechatronics; Micromechanical devices; Quaternions; Robots; Silicon compounds; Quaternion; Strap-down inertial navigation; alignment;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246410