International Journal of Ocean System Engineering

Korean Society of Ocean Engineers (한국해양공학회)
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Study on AHRS Sensor for Unmanned Underwater Vehicle

  • Kim, Ho-Sung (Ocean System Engineering, Samsung Tales, Samsung Tales) ;
  • Choi, Hyeung-Sik (Department of Mechanical and Energy System Engineering, Busan, Korea Maritime University) ;
  • Yoon, Jong-Su (Department of Mechanical and Energy System Engineering, Busan, Korea Maritime University) ;
  • Ro, P.I. (Department of Mechanical and Aerospace Engineering, North Carolina State University)
  • Received : 2011.06.09
  • Accepted : 2011.07.27
  • Published : 2011.09.01
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Abstract

In this paper, for the accurate estimation of the position and orientation of the UUV (unmanned underwater vehicle), an AHRS (Attitude Heading Reference System) was developed using the IMU (inertial measurement unit) sensor which provides information on acceleration and orientation in the object coordinate and the initial alignment algorithm and the E-KF (extended Kalman Filter). The initial position and orientation of the UUV are estimated using the initial alignment algorithm with 3-axis acceleration and geomagnetic information of the IMU sensor. The position and orientation of the UUV are estimated using the AHRS composed of 3-axis acceleration, velocity, and geomagnetic information and the E-KF. For the performance test of the orientation estimation of the AHRS, a testbed using IMU sensor(ADIS16405) and DSP28335 coded with an E-KF algorithm was developed and its performance was verified through tests.

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