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ICRA
2002
IEEE

Towards In-Situ Calibration of Gyro and Doppler Navigation Sensors for Precision Underwater Vehicle Navigation

9 years 6 months ago
Towards In-Situ Calibration of Gyro and Doppler Navigation Sensors for Precision Underwater Vehicle Navigation
Abstract This paper addresses a practical problem arising in the calibration of bottom-lock doppler sonar for the navigation of underwater robot vehicles. Employing a least-squares method, the rotational alignment offset between a bottom-lock doppler sonar and a north-seeking gyroscope can be experimentally determinined using sensors commonly deployed with a vehicle in the field. It requires sensor values from the vehicle’s doppler sonar and 3-axis gyroscope, and absolute vehicle position fixes from a long-baseline or short-baseline acoustic navigation system. The performance of the calibration method is evaluated with simulated doppler data possessing measurement noise typical of that found in actual in-water vehicle sensor data.
James C. Kinsey, Louis L. Whitcomb
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors James C. Kinsey, Louis L. Whitcomb
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