Study on algorithm for small AUV attitude estimation from vector observations

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.