On Line Compensation of Heading Sensor Bias for Low Cost AUVs

Abstract

This paper presents a study of the effects of compass bias on navigational accuracy of autonomous underwater vehicles. Low cost vehicle systems utilize a magnetometer, and Doppler sonar for dead reckoning, and a DGPS fix when surfaced. By learning the compass bias from a few DGPS fixes, the navigational errors can be bounded with only a small number of fixes. The study is conducted using the Florida Atlantic University OEX vehicle and a large set of data obtained from a 3.5 Km run including several segments at different headings so that the dependency of compass error on actual heading could be evaluated.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1998
Accession Number
ADA436020

Entities

People

  • Anthony J. Healey
  • D. B. Marco
  • E. P. An

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Compensation
  • Dead Reckoning
  • Detectors
  • Doppler Sonar
  • Filters
  • Global Positioning Systems
  • Inertial Navigation
  • Inertial Navigation Systems
  • Kalman Filters
  • Magnetometers
  • Measurement
  • Navigation
  • Navigational Equipment
  • Sonar
  • Underwater Vehicles
  • Vehicles

Readers

  • Acoustical Oceanography.
  • Geodesy
  • Positioning, Navigation, and Timing (PNT) Technology.