Publications

@inproceedings{troni2012a,

title = {Field performance evaluation of new methods for in-situ calibration of attitude and Doppler sensors for underwater vehicle navigation},

author = {Giancarlo Troni and James C Kinsey and Dana R Yoerger and Louis L Whitcomb},

issn = {1050-4729},

year  = {2012},

date = {2012-05-01},

booktitle = {Robotics and Automation (ICRA), 2012 IEEE International Conference on},

pages = {5334--5339},

publisher = {Ieee},

address = {St Paul, MN},

abstract = {We report a comparative performance evaluation, using at-sea field data, of recently reported methods for the problem of in-situ calibration of the alignment rotation matrix between Doppler sonar velocity sensors and inertial navigation sensors arising in the navigation of underwater vehicles. Most previously reported solutions to this alignment calibration problem require the use of absolute navigation fixes of the underwater vehicle, thus requiring additional navigation sensors and/or beacons to be located externally and apart from the underwater vehicle. We briefly review four recently reported alignment calibration methods employing only internal vehicle navigation sensors for velocity, acceleration, attitude, and depth. We report the results of comparative analysis of the performance of these recently reported methods and a previously reported method with navigation data from deep-water survey missions of the Sentry autonomous underwater vehicle conducted in March, 2011 in the Kermadec Arc in the Southern Pacific Ocean. The results reveal consistent differences in performance of the various methods when analyzed on navigation data from several different vehicle dives.,` doi = 10.1109/ICRA.2012.6225249},

keywords = {alignment rotation matrix, attitude measurement, attitude sensor, calibration, Doppler radar, Doppler sensor, Doppler sonar velocity sensor, in-situ calibration, inertial navigation, inertial navigation sensor, internal vehicle navigation sensor, sensors, sonar, underwater sound, underwater vehicle navigation, underwater vehicles},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{troni2011a,

title = {Experimental evaluation of an inertial navigation system for underwater robotic vehicles},

author = {Giancarlo Troni and Christopher J McFarland and Kirk A Nichols and Louis L Whitcomb},

doi = {10.1109/ICRA.2011.5980488},

issn = {1050-4729},

year  = {2011},

date = {2011-01-01},

booktitle = {Robotics and Automation (ICRA), 2011 IEEE International Conference on},

pages = {3064--3071},

address = {Shanghai, China},

abstract = {This paper reports the results of an in-water laboratory evaluation of the state estimation accuracy of a commercially available inertial navigation system (INS), and the effect of variations in the accuracy and the update rate of INS correction data on the accuracy of the INS state estimate. The navigation accuracy of the INS state estimate is evaluated by comparison with navigation data from a highly accurate navigation system available in our laboratory that employs high-frequency acoustic time-of-flight ranging, precision pressure depth sensing, bottom-lock Doppler sonar, and a true-North-seeking gyrocompass that is integral to the INS.},

keywords = {bottom-lock Doppler sonar, high-frequency acoustic time-of-flight ranging, in-water laboratory evaluation, inertial navigation, inertial navigation system, mobile robots, path planning, precision pressure depth sensing, sonar, state estimation, telerobotics, true-North-seeking gyrocompass, underwater robotic vehicle, underwater vehicles},

pubstate = {published},

tppubtype = {inproceedings}

}