Kalman filter estimation of underwater vehicle position and attitude using Doppler velocity aided inertial motion unit
Leader, Daniel Eugene
MetadataShow full item record
This Paper explores the use of an extended Kalman filter to provide real-time estimates of underwater vehicle position and attitude. The types of previously available sensors are detailed including strapdown accelerometers, roll and pitch sensors, gyro and magnetic compasses, depth sensor, and various types of acoustic positioning systems. A doppler velocimeter is added to this sensor suite to improve the performance of the filter. As an integral part of the filter, magnetic compass and gyrocompass biases are estimated to improve vehicle heading accuracy. The filter is designed to account for numerous reallife complications. These include varying rates of sensor output, lengthy gaps in reception of position information, presence of non-Gaussian position fix errors (flyers), and varying probability density functions for sensor errors. Simulated data are used to test the filter with varying availability of data and accuracy of initial conditions, along with actual data from a deployment of the towed DSL-120 vehicle. The increased accuracy obtained by using the doppler velocimeter is emphasized.
Submitted in partial fulfillment of the requirements for the degree of Ocean Engineer at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 1994
Suggested CitationThesis: Leader, Daniel Eugene, "Kalman filter estimation of underwater vehicle position and attitude using Doppler velocity aided inertial motion unit", 1994-09, DOI:10.1575/1912/2418, https://hdl.handle.net/1912/2418
Showing items related by title, author, creator and subject.
Global barotropic variability of the ocean in response to atmospheric forcing based on multichannel regression and Kalman filter techniques Chechelnitsky, Michael Y. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1996-05)TOPEX/POSEIDON altimetry data are employed in the analysis of the global ocean response to atmospheric forcing. We use two different approaches to test the hypothesis that the global sea surface height variability can ...
Tracking of time-evolving sound speed profiles in shallow water using an ensemble Kalman-particle filter Li, Jianlong; Zhou, Hui (Acoustical Society of America, 2013-03)This paper presents a tracking technique for performing sequential geoacoustic inversion monitoring range-independent environmental parameters in shallow water. The inverse problem is formulated in a state-space model with ...
Slivinski, Laura; Spiller, Elaine; Apte, Amit; Sandstede, Bjorn (American Meteorological Society, 2015-01)Lagrangian measurements from passive ocean instruments provide a useful source of data for estimating and forecasting the ocean’s state (velocity field, salinity field, etc.). However, trajectories from these instruments ...