Experimental Evaluation of an Inertial Navigation System for Underwater Robotic Vehicles

摘要：

This paper reports the results of an in-water laboratory evaluation of the state estimation accuracy of a commercially available inertial navigation system (INS), and the effect of variations in the accuracy and the update rate of INS correction data on the accuracy of the INS state estimate. The navigation accuracy of the INS state estimate is evaluated by comparison with navigation data from a highly accurate navigation system available in our laboratory that employs high-frequency acoustic time-of-flight ranging, precision pressure depth sensing, bottom-lock Doppler sonar, and a true- North-seeking gyrocompass that is integral to the INS.

作者: Giancarlo Troni Christopher J. McFarland Kirk A. Nichols Louis L. Whitcomb

作者单位: Department of Mechanical Engineering,Johns Hopkins University,Baltimore,MD 21218,USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3064-3071

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）