Type of Document Master's Thesis Author Kapaldo, Aaron J URN etd-08082005-173535 Title Gyroscope Calibration and Dead Reckoning for an Autonomous Underwater Vehicle Degree Master of Science Department Electrical and Computer Engineering Advisory Committee
Advisor Name Title Stilwell, Daniel J. Committee Chair Baumann, William T. Committee Member Kachroo, Pushkin Committee Member Keywords
- Adaptive Filtering
- Inertial Navigation
- Dead Reckoning
- Extended Kalman Filter
Date of Defense 2005-07-28 Availability unrestricted AbstractAutonomous Underwater Vehicles (AUVs) are currently being used for many underwater
tasks such as mapping underwater terrain, detection of underwater objects, and assessment
of water quality. Possible uses continue to grow as the vehicles become smaller, more agile,
and less expensive to operate. However, trade-offs exist between making less expensive,
miniature AUVs and the quality at which they perform. One area affected by cost and size
is the onboard navigation system. To achieve the challenges of low-cost rate sensors, this
thesis examines calibration methods that are suitable for identifying calibration coefficients
in low-cost MEMS gyros.
A brief introduction to underwater navigation is presented and is followed by the development
of a model to describe the operation of a rate gyro. The model uses the integral
relationship between angular rate and angular position measurements. A compass and two
tilt sensors provide calibrated angular position data against which the three single axis gyros
are compared to obtain an error signal describing errors present in the angular rate
A calibration routine that adaptively identifies error parameters in the gyros is developed.
Update laws are chosen to recursively apply estimated error parameters to minimize the
system error signal. Finally, this calibration method is applied to a simple dead reckoning
algorithm in an attempt to measure the improvements calibration provides.
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