Inversion Estimation of AUV Attitude Based on Pressure Sensor Array

WANG Chongyang; YU Huapeng; LI Ziyuan; ZHAO Dexin

doi:10.11993/j.issn.2096-3920.202202011

Volume 31 Issue 2

Apr 2023

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Article Navigation > Journal of Unmanned Undersea Systems > 2023 > 31(2): 229-236

WANG Chongyang, YU Huapeng, LI Ziyuan, ZHAO Dexin. Inversion Estimation of AUV Attitude Based on Pressure Sensor Array[J]. Journal of Unmanned Undersea Systems, 2023, 31(2): 229-236. doi: 10.11993/j.issn.2096-3920.202202011

Citation:

WANG Chongyang, YU Huapeng, LI Ziyuan, ZHAO Dexin. Inversion Estimation of AUV Attitude Based on Pressure Sensor Array[J]. Journal of Unmanned Undersea Systems, 2023, 31(2): 229-236. doi: 10.11993/j.issn.2096-3920.202202011

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Inversion Estimation of AUV Attitude Based on Pressure Sensor Array

doi: 10.11993/j.issn.2096-3920.202202011

1.
National Innovation Institute of Defense Technology, Academy of Military Science, Beijing 100071, China
2.
Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China

Received Date: 2022-02-28
Rev Recd Date: 2022-04-19

Available Online: 2022-07-19

Abstract

Abstract

Attitude is an essential parameter in autonomous navigation. Existing high-precision navigation sensors are expensive and large. Therefore, miniaturized and low-cost autonomous navigation technologies have become the research focus. Inspired by biomimetics, an inversion estimation model of autonomous undersea vehicle(AUV) attitude based on a pressure sensor array was constructed. The model takes known pressure and attitude data as input and trains the model parameters to use the pressure data to invert attitude information. The effectiveness of the proposed method was verified through multiple experiments with different trajectories, depths, speeds, and other factors. The experimental results show that using the proposed method, the estimated pitch angle error is below 2.069 9°, and the estimated roll angle error is below 2.990 8°. Furthermore, there are no cumulative attitude errors; this, implies that the proposed method has strong potential for applications in autonomous navigation systems.
- autonomous undersea vehicle,
- autonomous navigation,
- pressure sensor array,
- attitude inversion estimation

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References(16)

References

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