Dynamic Calibration of a Magnetic Heading Sensor Using an Acoustic Net

Abstract

Heading sensors remain the weak link in AUV navigation. Developers are left to chose between the size and expense of a gyro compass (and its variants) or the performance limitations of a magnetic reference. While the performance of a magnetic reference can be improved with a deviation table, implementing them is cumbersome and time consuming. A method has been developed for the REMUS vehicle that dynamically learns the compass errors using acoustic information as part of a regular mission. The approach is automatic, and applicable to any AUV operating in an acoustic net. This paper discusses test results, and future areas for development.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2000
Accession Number
ADA412858

Entities

People

  • R. Stokey

Organizations

  • Woods Hole Oceanographic Institution

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Acoustic Navigation
  • Algorithms
  • Autonomous Underwater Vehicles
  • Calibration
  • Coefficients
  • Compasses
  • Computers
  • Ecology
  • Errors
  • Laptop Computers
  • Light Scattering
  • Measurement
  • Navigation
  • Standards
  • Underwater Vehicles
  • Vehicles

Readers

  • Geodesy
  • Systems Analysis and Design
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.