Title :
Design of data fusion algorithm of 10-DOF AHRS for underwater vehicles
Author :
Yixuan Gao ; Xueting Zhang ; Qingpeng Kong ; Yucheng Xu
Author_Institution :
Hangzhou Dianzi Univ., Hangzhou, China
Abstract :
This paper describes the design of a 10-Dimension of Freedom(10-DoF) Attitude and Heading Reference System (AHRS) by fusing gyroscope, accelerometer, magnetometer, and temperature data from MEMS sensors embedded in the system. This paper use Kalman filter to estimate orientation and use Gauss-Newton iteration method to get measurement state. In this filter, the system error and measurement error are estimated, also system error is sensitive to changes of temperature. The system is tested under quasi-static conditions and is compared with the orientation obtained with non-magnetic turntable. The results show ±1° error in row and pitch direction and ±5° in yaw direction.
Keywords :
Kalman filters; accelerometers; gyroscopes; iterative methods; magnetometers; measurement errors; microsensors; oceanographic techniques; sensor fusion; underwater vehicles; 10-DOF AHRS; 10-dimension of freedom attitude and heading reference system; Gauss-Newton iteration method; Kalman filter; MEMS sensors; accelerometer; data fusion algorithm; gyroscope; magnetometer; measurement error; quasistatic conditions; system error; temperature data; underwater vehicles; Accelerometers; Kalman filters; Magnetic separation; Magnetometers; Quaternions; Temperature sensors; AHRS; Kalman filter; data fusion;
Conference_Titel :
Oceans - San Diego, 2013
Conference_Location :
San Diego, CA
