NDLI: Low Cost Inertial Measurement Unit Application on Sub-Sea Launching: Signal Processing and Trajectory Algorithm

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Lavieri, Rodrigo Sauri Tannuri, Eduardo Aoun Fujarra, Andre´ L. C. Celso, P. Pesce Correˆa, Diego Cascelli
Copyright Year	2010
Abstract	Many situations in the Offshore Industry require equipment to be launched to the sea floor, becoming important to measure or to estimate their final position and/or to determine the complete trajectory. Some examples are the installation of anchorage devices, manifolds or production line supports. The main problem associated with the estimation of the position and the trajectory of the equipment is related to the fact that, systems such as GPSs and magnetometers cannot be used in subsea conditions. Gyrocompass and precise inertial sensors can be used, but they are expensive equipments and there is the risk of damaging during the launch process. The solution is to develop cost-effective inertial positioning systems that reach the operational requirements related to measuring accuracy. These equipments are based on MEMS (Micro-Electrical Mechanical Systems) inertial sensors that are relatively cheap. However, without the proper care, the signals obtained by these equipments present large levels of noise, bias and poor repeatability. The aim is to show a sequence of test procedures, treatment and processing of signals that leads one to know the position, attitude and trajectory of a submarine device. Furthermore, it allows the quantification of errors and, eventually, their sources. A commercial IMU (Inertial Measurement Unit) was chosen as a case study. It is equipped with MEMS sensors, usually adopted by the automobile industry. Tests with IMU were carried out intending to find the sensors scale factors, their bias and temperature sensitivity. Thereafter, the data were processed by two distinct algorithms. The first one is a simple algorithm that computes the attitude, azimuth at the final position and calculates the terminal velocity during the launch. The second one integrates the signal along all the movement by using quaternions algebra, resulting in the complete trajectory of the body. Discussions about the accuracy, applicability and limitations of each method are presented.
Sponsorship	Ocean, Offshore and Arctic Engineering Division
Starting Page	557
Ending Page	563
Page Count	7
File Format	PDF
ISBN	9780791849095
DOI	10.1115/OMAE2010-20857
e-ISBN	9780791838730
Volume Number	29th International Conference on Ocean, Offshore and Arctic Engineering: Volume 1
Conference Proceedings	ASME 2010 29th International Conference on Ocean, Offshore and Arctic Engineering
Language	English
Publisher Date	2010-06-06
Publisher Place	Shanghai, China
Access Restriction	Subscribed
Subject Keyword	Microelectromechanical systems Temperature Seas Magnetometers Risk Seabed Underwater vehicles Manifolds Noise (sound) Errors Algorithms Algebra Measurement units and standards Automotive industry Signal processing Trajectories (physics) Ocean engineering Anchorage Sensors Signals Assembly lines
Content Type	Text
Resource Type	Article

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