Online compensation of heading sensor bias for low cost AUVs

Author

Healey, A.J. ; An, E.P. ; Marco, D.B.

Author_Institution

Center for AUV Res., Naval Postgraduate Sch., Monterey, CA, USA

fYear

1998

fDate

20-21 Aug 1998

Firstpage

35

Lastpage

42

Abstract

Presents a study of the effects of compass bias on navigational accuracy of autonomous underwater vehicles. Low cost vehicle systems utilize a magnetometer, and Doppler sonar for dead reckoning, and a DGPS fix when surfaced. By learning the compass bias from a few DGPS fixes, the navigational errors can be bounded with only a small number of fixes. The study is conducted using the Florida Atlantic University OEX vehicle and a large set of data obtained from a 3.5 Km run including several segments at different headings so that the dependency of compass error on actual heading could be evaluated

Keywords

Global Positioning System; compensation; filtering theory; magnetometers; remotely operated vehicles; sonar; underwater vehicles; DGPS fix; Doppler sonar; autonomous underwater vehicles; compass bias; dead reckoning; heading sensor bias; low cost AUVs; magnetometer; navigational accuracy; navigational errors; online compensation; Costs; Dead reckoning; Error correction; Global Positioning System; Marine technology; Oceans; Remotely operated vehicles; Sea surface; Sonar navigation; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicles, 1998. AUV'98. Proceedings of the 1998 Workshop on

Conference_Location

Cambridge, MA

Print_ISBN

0-7803-5190-8

Type

conf

DOI

10.1109/AUV.1998.744437

Filename

744437