Design and Experimental Evaluation of integrated orientation estimation algorithm Autonomous Underwater Vehicle Based on Indirect Complementary Filter

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Zia Seyed Vahid; BABAEI JAVAD; ALIZADEH EBRAHIM

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Journal: Journal of Control Year:2019 | Volume:13 | Issue:1 Page(s): 47-56

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Information Journal Paper

Title

Design and Experimental Evaluation of integrated orientation estimation algorithm Autonomous Underwater Vehicle Based on Indirect Complementary Filter

Author(s)

Zia Seyed Vahid | BABAEI JAVAD | ALIZADEH EBRAHIM | Issue Writer Certificate

Keywords

Attitude EstimationQ1

Autonomous Underwater VehicleQ1

Inertial Measurement UnitQ1

Indirect Complementary FilterQ1

Global Positioning SystemQ1

Abstract

This paper aims is to design an integrated navigation system constituted by low-cost inertial sensors to estimate the orientation of an Autonomous Underwater Vehicle (AUV) during all phases of under water and surface missions. The proposed approach relied on Global Positioning System, Inertial Measurement Unit (accelerometer & rate gyro), magnetometer and complementary filter technique. Complementary filter operates based on low pass filter and high pass filter to remove noise and bias error of measurement data in the integrated navigation structure, respectively. Consequently, a relatively accurate orientation estimation is provided for guidance/control system. The most important feature of the proposed approach is the ability of switching between GPS and magnetometer sensor consistent with phase-change in the AUV motion. This brings about more accurate estimation of heading angle in both the surface and underwater phase compared to gyro-based navigation. The performance of the proposed algorithm is assessed in a field test executed on a research AUV and in comparison, with Kalman filter.

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APA: Copy

Zia, Seyed Vahid, BABAEI, JAVAD, & ALIZADEH, EBRAHIM. (2019). Design and Experimental Evaluation of integrated orientation estimation algorithm Autonomous Underwater Vehicle Based on Indirect Complementary Filter. JOURNAL OF CONTROL, 13(1 ), 47-56. SID. https://sid.ir/paper/120765/en

Vancouver: Copy

Zia Seyed Vahid, BABAEI JAVAD, ALIZADEH EBRAHIM. Design and Experimental Evaluation of integrated orientation estimation algorithm Autonomous Underwater Vehicle Based on Indirect Complementary Filter. JOURNAL OF CONTROL[Internet]. 2019;13(1 ):47-56. Available from: https://sid.ir/paper/120765/en

IEEE: Copy

Seyed Vahid Zia, JAVAD BABAEI, and EBRAHIM ALIZADEH, “Design and Experimental Evaluation of integrated orientation estimation algorithm Autonomous Underwater Vehicle Based on Indirect Complementary Filter,” JOURNAL OF CONTROL, vol. 13, no. 1 , pp. 47–56, 2019, [Online]. Available: https://sid.ir/paper/120765/en

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