پیوندهای مفید
آمار
| تعداد نشریات | 8 |
| تعداد شماره‌ها | 421 |
| تعداد مقالات | 5,525 |
| تعداد مشاهده مقاله | 6,365,219 |
| تعداد دریافت فایل اصل مقاله | 5,478,290 |
Tilt estimation using pressure sensors for unmanned underwater vehicle navigation | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 3، دوره 54، شماره 2، اسفند 2022، صفحه 161-172 اصل مقاله (1.99 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2022.21580.5290 | ||
| نویسندگان | ||
| Mostafa Amuei1؛ Seyyed Mohammad Mehdi Dehghan* 1؛ Hossien Nourmohammadi2؛ Mohammad Ali AlirezaPouri1 | ||
| 1Faculty of Electrical and Computer Engineering, Malek-Ashtar University of technology, Tehran, Iran | ||
| 2Northern Research Center for Science and Technology, Malek-Ashtar University of technology, Fereydunkenar, Iran | ||
| چکیده | ||
| Since the Unmanned Underwater Vehicles (UUVs) don’t receive the Global Navigation Satellite System (GNSS) signals under the water, other aided measurements are needed to provide the required accuracy in tilt estimation including roll and pitch angle estimation. Conventional approaches for pressure-based tilt estimation, only consider the relation between the static pressure and the tilt as the measurement model. However, the performance of this approach depends on the dynamic pressure which is caused by the sea waves. This paper improves the accuracy of pressure-based tilt estimation using the more accurate of the measurement model. Also, the proposed approach considers the coupling between the axes of UUV. Due to the cost of the approach and the hardware limitations of installation pressure sensors, the proposed approach is implemented using two pressure sensors. An Extended Kalman Filter (EKF) is used for simultaneous tilt and gyroscopes measurement errors estimation. A Monte-Carlo simulation is developed to evaluate the performance of the proposed approach in comparison with INS only and the conventional static pressure-based tilt estimation. The simulation results show that tilt estimation performance of conventional approach is better than the INS only performance and the performance of proposed approach is better than the both of them. | ||
| کلیدواژه‌ها | ||
| Pressure sensor؛ static and dynamic pressure؛ tilt estimation؛ Extended Kalman filter؛ unmanned underwater vehicle | ||
| مراجع | ||
|
[1] D. Titterton, J.L. Weston, J. Weston, Strapdown inertial navigation technology, IET, 2004.
[2] C. Chao, Z. Jiankang, J. Hu, Improving robustness of the MAV yaw angle estimation for low‐cost INS/GPS integration aided with tri‐axial magnetometer calibrated by rotating the ellipsoid model, IET Radar, Sonar & Navigation, 14(1) (2020) 61-70.
[3] N.Y. Ko, H.T. Choi, C.-M. Lee, Y.S. Moon, Attitude estimation using depth measurement and AHRS data for underwater vehicle navigation, in: OCEANS 2016-Shanghai, IEEE, 2016, pp. 1-4.
[4] A. Baruch, Y. Mazal, B. Braginsky, H. Guterman, Attitude estimation of AUVs based on a network of pressure sensors, IEEE Sensors Journal, 20(14) (2020) 7988-7996.
[5] S. Zhigang, M. Xiaochuan, L. Yu, Y. Shefeng, Attitude determination of autonomous underwater vehicles based on pressure sensor array, in: 2015 34th Chinese Control Conference (CCC), IEEE, 2015, pp. 5517-5520.
[6] G. Liu, M. Wang, L. Xu, A. Incecik, M.A. Sotelo, Z. Li, W. Li, A new bionic lateral line system applied to pitch motion parameters perception for autonomous underwater vehicles, Applied Ocean Research, 99 (2020) 102142.
[7] G. Vitale, A. D'Alessandro, A. Costanza, A. Fagiolini, Low-cost underwater navigation systems by multi-pressure measurements and AHRS data, in: OCEANS 2017-Aberdeen, IEEE, 2017, pp. 1-5.
[8] H. Nourmohammadi, J. Keighobadi, Decentralized INS/GNSS system with MEMS-grade inertial sensors using QR-factorized CKF, IEEE Sensors Journal, 17(11) (2017) 3278-3287.
[9] T.T.J. Prestero, Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle, Massachusetts institute of technology, 2001.
[10] I.B. Saksvik, A. Alcocer, V. Hassani, A deep learning approach to dead-reckoning navigation for autonomous underwater vehicles with limited sensor payloads, in: OCEANS 2021: San Diego–Porto, IEEE, 2021, pp. 1-9.
[11] F.M. Yaul, A flexible underwater pressure sensor array for artificial lateral line applications, Massachusetts Institute of Technology, 2011.
[12] H. Nourmohammadi, J. Keighobadi, Integration scheme for SINS/GPS system based on vertical channel decomposition and in-motion alignment, AUT Journal of Modeling and Simulation, 50(1) (2018) 13-22.
[13] Z. Huang, Z. Su, B. Huang, S. Song, J. Li, Quaternion-based finite-time fault-tolerant trajectory tracking control for autonomous underwater vehicle without unwinding, ISA transactions, 131 (2022) 15-30.
[14] X. Mu, B. He, S. Wu, X. Zhang, Y. Song, T. Yan, A practical INS/GPS/DVL/PS integrated navigation algorithm and its application on Autonomous Underwater Vehicle, Applied Ocean Research, 106 (2021) 102441. | ||
|
آمار تعداد مشاهده مقاله: 298 تعداد دریافت فایل اصل مقاله: 266 |
||