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Troni, Giancarlo; Kinsey, James C; Yoerger, Dana R; Whitcomb, Louis L

Field performance evaluation of new methods for in-situ calibration of attitude and Doppler sensors for underwater vehicle navigation Inproceedings

In: Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp. 5334–5339, Ieee, St Paul, MN, 2012, ISSN: 1050-4729.

Abstract | BibTeX | Tags: 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


Troni, Giancarlo; McFarland, Christopher J; Nichols, Kirk A; Whitcomb, Louis L

Experimental evaluation of an inertial navigation system for underwater robotic vehicles Inproceedings

In: Robotics and Automation (ICRA), 2011 IEEE International Conference on, pp. 3064–3071, Shanghai, China, 2011, ISSN: 1050-4729.

Abstract | Links | BibTeX | Tags: 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