期刊
IEEE SENSORS JOURNAL
卷 20, 期 14, 页码 7988-7996出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2020.2982607
关键词
Pressure sensors; Estimation; Layout; Pressure measurement; Vehicle dynamics; Sensor systems; Autonomous underwater vehicle (AUV); pressure sensors; marine navigation; Attitude and Heading Reference System (AHRS); error analysis
Underwater navigation is a challenging task for Autonomous Underwater Vehicles (AUVs), which requires to estimate the position and orientation of the vehicle. Accelerometer-based attitude estimation is problematic as its accuracy can degrade by up to two orders of magnitude when the AUV is accelerating. Pressure sensors, which are unaffected by acceleration, offer an efficient alternative for determining orientation. This paper offers a method for pitch-and-roll estimation using a network of pressure sensors and a thorough analysis of the method's accuracy including analytical evaluation and the Cramer-Rao lower bound. Then, the method is tested in a simulation. We also provide a way to estimate system performance based on the vehicle's size and the number and accuracy of the sensors.
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