Low-cost underwater navigation systems by multi-pressure measurements and AHRS data
- Autori: Vitale, G.; D'Alessandro, A.; Costanza, A.; Fagiolini, A.
- Anno di pubblicazione: 2017
- Tipologia: Proceedings (TIPOLOGIA NON ATTIVA)
- Parole Chiave: Attitude Heading Reference System; Inertial Measurement Units; Inertial Navigation Systems; Remotely Operated Vehicle; Instrumentation; Computer Networks and Communications; Oceanography; Acoustics and Ultrasonics; Automotive Engineering
This paper deals with accurate navigation for underwater remotely operated vehicles. A feasibility study for a multi-pressure device to be mounted on an ROV is presented. The device can provide accurate estimates of a ROV orientation and angular speed. It is based on the well-known total pressure principle, also used in a Pitot tube, and allows reconstruction of static and dynamic pressures, which in turn provide good estimates of the ROV's orientation and rotational speed, respectively. An appealing feature of the proposed device is its ability to provide accurate estimates even for low-speed movements.