Study on AHRS Sensor for Unmanned Underwater Vehicle

Abstract

In this paper, for the accurate estimation of the position and orientation of the UUV (unmanned un-derwater vehicle), an AHRS (Attitude Heading Reference System) was developed using the IMU (in-ertial measurement unit) sensor which provides information on acceleration and orientation in the ob-ject coordinate and the initial alignment algorithm and the E-KF (extended Kalman Filter). The initial position and orientation of the UUV are estimated using the initial alignment algorithm with 3-axis acceleration and geomagnetic information of the IMU sensor. The position and orientation of the UUV are estimated using the AHRS composed of 3-axis acceleration, velocity, and geomagnetic information and the E-KF. For the performance test of the orientation estimation of the AHRS, a testbed using IMU sensor(ADIS16405) and DSP28335 coded with an E-KF algorithm was developed and its per-formance was verified through tests. (PDF) Study on AHRS Sensor for Unmanned Underwater Vehicle. Available from: https://www.researchgate.net/publication/266225449_Study_on_AHRS_Sensor_for_Unmanned_Underwater_Vehicle [accessed Dec 27 2018].