Small inertial sensors for a miniature autonomous underwater vehicle

Testing and algorithm development are addressed for the guidance system of a low-cost (disposable) miniature autonomous underwater vehicle. The requirements for low-cost and small size systems typically necessitate the use of low-performance sensors. In this work, we address the limitations of low-performance inertial sensors. Mechanized calibration routines are developed to compensate for high drift rates in gyro calibration coefficients, and compass/gyro stabilization methods are investigated to address susceptibility of the compass to magnetic interference