Multi-rate sensor fusion for underwater heading estimation

Abstract

Purpose

This paper presents the results of a heading estimation method for a remotely operated vehicle (ROV). The output rate of commercially available underwater compasses is typically in the order of a few Hz. Heading frequencies of at least 1 KHz are desirable for navigation and control purposes.

Design/methodology/approach

The estimation was performed by fusioning the signals of three inertial sensors: the ROV’s own underwater compass (which operates roughly at 10 Hz or less), the ROV’s embedded gyro and an additional angular rate sensor that provides readings from 1 to 3 KHz. The output signal of the additional angular rate sensor is not part of the proposed Kalman filter. Nonetheless a five-point Newton-Cotes closed integration of such signal is fed into the Kalman filter implementation that performs the required heading estimation at 1 KHz or more.

Findings

The proposed Kalman filter implementation is a suitable approach to estimate heading position even though the original compass signal rate is significantly slower than the signal required for both assisted and autonomous control.

Research limitations/implications

The estimated heading yield good results in both simulation and experimental environments.

Originality/value

The method was embedded in a dedicated 16-bit DSP that handles both the acquisition of the three signals and the heading estimation, hence resulting in a very low-cost solution. The embedded solution was tested in the developed submarine and the obtained high-rate heading parameter is now used by the control system of the ROV.

Citation

Bandala, M., Salgado, T. and Chávez, R. (2014), "Multi-rate sensor fusion for underwater heading estimation", Industrial Robot, Vol. 41 No. 4, pp. 347-350. https://doi.org/10.1108/IR-04-2014-0321