Advances in Precision Navigation of low-cost underwater vehicles
University of Michigan, NAME Dept.
Friday, March 28, 2014|
3:30pm - 4:30pm
About the Event
Ocean exploration is advancing dramatically due to advances in
underwater vehicles. However, the multi-million dollar cost of current
high-end vehicles typically employed for oceanographic missions limit
their widespread use. New low-cost vehicles present a viable
alternative for oceanographic exploration but, due to the limited
accuracy of their low-cost navigation systems, they are presently
limited to missions requiring only low-precision navigation. The goal
of this talk is to present new methodologies for improving precision
navigation for low-cost underwater vehicles.
Two common problems in the field are addressed in this talk. First
this talk reports novel methodologies for estimating the sensor bias
of magnetometers. Three methods based on batch linear least squares,
real time Kalman filter, and real time adaptive identification are
reported. These methods impose less restrictive conditions for the
movements of the instrument required for calibration than previously
reported methods, do not require knowledge of the direction of the
field or the attitude of the instrument, and also ensure convergence
for the estimated parameters.
The second problem is the development and experimental evaluation of
new methods for in-situ calibration of the alignment rotation matrix
between Doppler sonar attitude sensors. Two new methods are developed
employing inertial data, depth data, and Doppler sonar data to perform
alignment calibration. An advantage of the presented approach over
previous methods is that it does not require expensive sensors
external to the vehicle, so the overall calibration effort is reduced.
Improved calibration and attitude estimation methods are shown
experimentally to improve the precision navigation position estimation
when using low-cost sensors. These results may be useful in the
development of lower-cost navigation systems for small and low-cost
underwater vehicles for oceanographic missions.
Contact: Ann Pace
Sponsor: Bosch, Eaton, Ford, MathWorks, Toyota, and Whirlpool
Open to: Public