Design and implementation of AHRS/GPS/DR Navigation algorithm applied to long-range AUVs with high underwater durability

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ALIZADEH EBRAHIM; NOURMOHAMMADI HOSSEIN; Sabet Mohammad Taghi; Zarrini Larimi Mostafa

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Paper Information

Journal: JOURNAL OF MARINE ENGINEERING Year:2018 | Volume:13 | Issue:26 Page(s): 47-57

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Title

Design and implementation of AHRS/GPS/DR Navigation algorithm applied to long-range AUVs with high underwater durability

Author(s)

ALIZADEH EBRAHIM | NOURMOHAMMADI HOSSEIN | Sabet Mohammad Taghi | Zarrini Larimi Mostafa | Issue Writer Certificate

Keywords

Long-range AUV navigationQ1

Orientation estimationQ1

GPS outageQ1

State estimation filterQ1

Long-term inertial navigation errorQ1

Abstract

One of the main challenges in low-cost inertial navigation systems (INSs) is inevitable errors of MEMS-grade inertial sensors which lead to time-growing navigation error. This paper aims to develop AHRS/GPS/DR integrated navigation algorithm for longrange autonomous underwater vehicle (AUV). Proper performance in deals with longterm GPS outage is the main advantage of the proposed algorithm. Online estimation of gyro biases plays noticeable role in the performance of the presented algorithm. Using Dead Reckoning (DR) method based on an axial speed sensor, an applied algorithm is developed for position estimation during the GPS outages. The algorithm is evaluated by field test executed on a long-range AUV with high underwater durability. Experimental results indicate that in spite of 500 seconds GPS outage, the estimation error in the heading angle does not exceed 5 degrees.

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APA: Copy

ALIZADEH, EBRAHIM, NOURMOHAMMADI, HOSSEIN, Sabet, Mohammad Taghi, & Zarrini Larimi, Mostafa. (2018). Design and implementation of AHRS/GPS/DR Navigation algorithm applied to long-range AUVs with high underwater durability. JOURNAL OF MARINE ENGINEERING, 13(26 ), 47-57. SID. https://sid.ir/paper/60984/en

Vancouver: Copy

ALIZADEH EBRAHIM, NOURMOHAMMADI HOSSEIN, Sabet Mohammad Taghi, Zarrini Larimi Mostafa. Design and implementation of AHRS/GPS/DR Navigation algorithm applied to long-range AUVs with high underwater durability. JOURNAL OF MARINE ENGINEERING[Internet]. 2018;13(26 ):47-57. Available from: https://sid.ir/paper/60984/en

IEEE: Copy

EBRAHIM ALIZADEH, HOSSEIN NOURMOHAMMADI, Mohammad Taghi Sabet, and Mostafa Zarrini Larimi, “Design and implementation of AHRS/GPS/DR Navigation algorithm applied to long-range AUVs with high underwater durability,” JOURNAL OF MARINE ENGINEERING, vol. 13, no. 26 , pp. 47–57, 2018, [Online]. Available: https://sid.ir/paper/60984/en

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