Title :
Log sensor calibration using M-estimate
Author :
Daxiong, Ji ; Jian, Liu ; Kaizhou, Liu
Author_Institution :
Dept. of Underwater Robot., Chinese Acad. of Sci., Shenyang, China
Abstract :
A calibration problem for log sensor of UUV is established and the problem can be divided into two separate parts: misalignment angle and scale factor of log sensor. Instead of using the conventional least square algorithm, a fine calibration approach based on M-estimate is used to suppress the effect of non-white noise. The adaptive factor relation to calibration precision is brought forward which is different from usual forgetting factor. The feasibility of the approach is demonstrated in the test of sea trail.
Keywords :
calibration; least mean squares methods; remotely operated vehicles; sensors; UUV; calibration; least square algorithm; log sensor; non-white noise; Calibration; Compass; Global Positioning System; Noise; Robot sensing systems; Robustness;
Conference_Titel :
OCEANS 2010 IEEE - Sydney
Conference_Location :
Sydney, NSW
Print_ISBN :
978-1-4244-5221-7
Electronic_ISBN :
978-1-4244-5222-4
DOI :
10.1109/OCEANSSYD.2010.5603573
