NDLI: Experimental evaluation of a MEMS inertial measurements unit for Doppler navigation of underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Troni, G. Whitcomb, L.L.
Copyright Year	2012
Description	Author affiliation: Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA (Troni, G.; Whitcomb, L.L.)
Abstract	This paper reports the results of an in-water laboratory experimental evaluation of the attitude estimation accuracy of a low-cost micro-electro-mechanical systems (MEMS) attitude and heading reference system (AHRS), and the effect of the accuracy of this sensor on Doppler-based underwater navigation. We report a comparative analysis of Doppler navigation obtained employing MEMS AHRS in comparison to Doppler navigation obtained with a high-accuracy inertial navigation system (INS) including a true-North-seeking gyrocompass and high precision accelerometers. The data indicate that Doppler navigation performance with MEMS AHRS is sensitive to instrument calibration including Doppler/AHRS alignment calibration, calibration of AHRS magnetometers for hard-iron & soft-iron errors, and calibration of AHRS angular rate sensors. When carefully calibrated, MEMS AHRS Doppler navigation error is shown to be within an order-of-magnitude of that obtained with high-end INS for the conditions and vehicle trajectories studied. The goal of this evaluation is to quantify Doppler navigation performance using MEMS AHRS. These results may be useful in the development of lower-cost Doppler navigation systems for small and low-cost underwater vehicles.
Sponsorship	Oceanic Eng. Soc.
Starting Page	1
Ending Page	7
File Size	1796572
Page Count	7
File Format	PDF
ISBN	9781467308298
e-ISBN	9781467308311
DOI	10.1109/OCEANS.2012.6405003
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Micromechanical devices Doppler effect Navigation Magnetometers Calibration Vehicles Estimation
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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