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Magnetometers independent heading estimation strategy for UUV based on position and speed observations

机译：基于位置和速度观测的UUV的磁力计独立标题估算策略

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For Unmanned Underwater Vehicles (UUV), the problem of position estimation is crucial for many different aspects ranging from good navigation performance to suitable geo-referencing capabilities of the payload data. The possibility of accurately estimating the UUV orientation has a positive impact on it, as the most of position estimation algorithms rely on the orientation signal. Among the orientation degrees of freedom, the heading angle has the highest importance in this process. Because its determination is strongly based on the use of magnetometers, it is also the one mostly affect by environmental unpredictable disturbances. In the recent past, the authors worked on a complementary filter capable of detecting and ignoring the magnetometers samples affected by disturbances. This way the navigation system of the vehicle can always exploit a reliable orientation information. In order to allow the UUV working under strongly disturbed conditions (e.g. inspections of modern wrecks), in this paper the bases for a heading estimation strategy that could completely avoid the use of magnetometers is proposed. The only involved devices are positioning sensors (Global Positioning System - GPS on the surface or Ultra-Short BaseLine USBL system underwater) velocity sensor (Doppler Velocity Log - DVL) and gyroscopes. The results of an observability analysis are provided highlighting that the heading degree of freedom results observable except for few trajectories along which a real vehicle reasonably never travels. Experimental results are provided as a first validation of the proposed approach. MARTA AUV was controlled to complete a mission on an area free of magnetic disturbances; the outcome of the proposed algorithm is compared with the one of the onboard orientation estimation algorithm that could exploit also the magnetometers signal. The slightly difference between the two estimations is a first encouraging result towards its on-line application.
机译：对于无人驾驶水下车辆（UUV），位置估计问题对于许多不同方面来说至关重要，从良好的导航性能到有效载荷数据的合适地理参考功能。准确地估计UUV方向的可能性对其具有积极的影响，因为大多数位置估计算法依赖于方向信号。在取向度自由度中，标题角度在该过程中具有最高的重要性。由于其确定基于使用磁力计的使用，因此它也是由环境不可预测的扰动影响。在最近，作者在互补滤光器上工作，能够检测和忽略受扰动影响的磁力计样本。这样，车辆的导航系统总是可以利用可靠的定向信息。为了使UUV在强烈扰乱的条件下工作（例如，现代残骸的检查），提出了一种可以完全避免磁力计使用磁力计的标题估计策略的基础。唯一涉及的设备是定位传感器（全球定位系统 - 表面或超短基线USBL系统水下的GPS）速度传感器（多普勒速度对数 - DVL）和陀螺仪。提供了可观察性分析的结果突出显示，除了几个轨迹之外，可观察到的自由度是可观察的，除了几个轨迹，真正的车辆永远不会行进。提供实验结果作为提出方法的第一次验证。 Marta AUV被控制在没有磁扰动的区域上完成任务;将所提出的算法的结果与可以利用磁力计信号来利用的板载取向估计算法进行比较。两种估计之间的略微差异是朝向其在线应用程序的第一个令人鼓舞的结果。

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