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Mems Sensor Based Underwater Ahrs (attitude and Heading Reference System) Aided by Compass and Pressure Sensor
| Content Provider | Semantic Scholar |
|---|---|
| Author | Erc, Mehmet |
| Copyright Year | 2012 |
| Abstract | MEMS SENSOR BASED UNDERWATER AHRS (ATTITUDE AND HEADING REFERENCE SYSTEM) AIDED BY COMPASS AND PRESSURE SENSOR Özgeneci, Mehmet Erçin M.Sc., Department of Electrical and Electronics Engineering Supervisor : Prof. Dr. Tolga Çilŏ glu Co-Supervisor : Assoc. Prof. Dr. Ça ğ tay Candan September 2012, 84 pages Attitude and Heading angles are crucial parameters for navigation. Conve ntional navigation methods mostly uses IMU and GPS devices to calculate these angles. MEMS tech nology offers small sized, low cost IMU sensors with moderate performance. Howev er, GPS cannot be used in underwater. Therefore, di fferent aiding sensors are used in underwater vehicles in order to increase the accuracy. As the accuracy of devices increase s, the cost of these devices also increases. In this thesis, rather than using GPS and high quality IMU se nsor , low cost MEMS IMU sensor is used together with a magnetometer and a pressure sens or as aiding sensors. Considering the IMU error model and motion dynamics, two systems are designed and simulated using real data. The results seem to be satisfactory and using pressure sensor as an aiding sensor improves the attitude angles estimation. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://etd.lib.metu.edu.tr/upload/12614619/index.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
