Sensor alignment using rotors in Geometric Algebra

Stanway, M. Jordan; Kinsey, James C.

doi:10.1109/icra.2011.5980519

Cited by 6 publications

(8 citation statements)

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“…In [11], the authors report using LBL information and a least-square techniques to estimate the 3-axis Doppler/attitude sensor alignment, and in [10], report a method for the problem based on adaptive identification on the group of rigid-body rotations. In [16], the authors report a formulation of this approach based on the use of rotors in Geometric Algebra. [4], [6], [12], [21].…”

Section: Introductionmentioning

confidence: 99%

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

Troni

Kinsey

Yoerger

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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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 deepwater 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.

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Section: Introductionmentioning

confidence: 99%

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

Troni

Kinsey

Yoerger

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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“…Here I propose a stable online method for in-situ alignment identification, and demonstrate it on data from underwater vehicles in the laboratory and in the field. (Some of this work is previously reported in [15].) [54].…”

Section: Dissertation Structurementioning

confidence: 96%

“…The online GA method detailed in this chapter is an asymptotically stable adaptive identifier and was originally proposed in [15]. This method works recursively on input/output vector pairs and it uses a more compact and efficient encoding of rotations than the LA methods.…”

Section: Contributionsmentioning

confidence: 99%

“…• alignment with respect to the vehicle reference frame; this must be well-calibrated either in the laboratory or using an in-situ technique such as those presented in [13,14] or [15] and chapter 1 of this dissertation.…”

Section: Compassmentioning

confidence: 99%

“…They offer increased performance over magnetic compasses, but at the expense of increased size, cost (> $10, 000), and power consumption (∼ 10 W). These systems still need to be carefully aligned with other sensors (especially the DVL), either in laboratory condi-tions for integrated units (e.g., [16]) or using in-situ methods in applications where the sensors are independently housed and mounted some distance from each other (e.g., [13][14][15] and chapter 1 of this dissertation).…”

Section: Compassmentioning

confidence: 99%

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Contributions to automated realtime underwater navigation

Stanway¹

2012

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This dissertation presents three separate-but related-contributions to the art of underwater navigation. These methods may be used in postprocessing with a human in the loop, but the overarching goal is to enhance vehicle autonomy, so the emphasis is on automated approaches that can be used in realtime. The three research threads are: i) in situ navigation sensor alignment, ii) dead reckoning through the water column, and iii) model-driven delayed measurement fusion. Contributions to each of these areas have been demonstrated in simulation, with laboratory data, or in the field-some have been demonstrated in all three arenas.The solution to the in situ navigation sensor alignment problem is an asymptotically stable adaptive identifier formulated using rotors in Geometric Algebra. This identifier is applied to precisely estimate the unknown alignment between a gyrocompass and Doppler velocity log, with the goal of improving realtime dead reckoning navigation. Laboratory and field results show the identifier performs comparably to previously reported methods using rotation matrices, providing an alignment estimate that reduces the position residuals between dead reckoning and an external acoustic positioning system. The Geometric Algebra formulation also encourages a straightforward interpretation of the identifier as a proportional feedback regulator on the observable output error. Future applications of the identifier may include alignment between inertial, visual, and acoustic sensors.The ability to link the Global Positioning System at the surface to precision dead reckoning near the seafloor might enable new kinds of missions for autonomous underwater vehicles. This research introduces a method for dead reckoning through the water column using water current profile data collected by an onboard acoustic Doppler current profiler. Overlapping relative current profiles provide information to simultaneously estimate the vehicle velocity and local ocean current-the vehicle velocity is then integrated to estimate position. The method is applied to field data using online bin average, weighted least squares, and recursive least squares implementations. This demonstrates an autonomous navigation link between the surface and the seafloor without any dependence on a ship or external acoustic tracking systems. 3Finally, in many state estimation applications, delayed measurements present an interesting challenge. Underwater navigation is a particularly compelling case because of the relatively long delays inherent in all available position measurements. This research develops a flexible, model-driven approach to delayed measurement fusion in realtime Kalman filters. Using a priori estimates of delayed measurements as augmented states minimizes the computational cost of the delay treatment. Managing the augmented states with time-varying conditional process and measurement models ensures the approach works within the proven Kalman filter framework-without altering the filter structure or requiring any ad-hoc adjust...

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Advances in In Situ Alignment Calibration of Doppler and High/Low‐end Attitude Sensors for Underwater Vehicle Navigation: Theory and Experimental Evaluation

Troni

Whitcomb

2014

Journal of Field Robotics

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This paper reports the development and comparative performance evaluation, using laboratory and at‐sea field data, of new methods for the problem of in situ calibration of the alignment rotation matrix between Doppler sonar velocity sensors and attitude 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 report four novel 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 new methods and a previously reported method with a navigation laboratory and at‐sea field data. Laboratory data were obtained with the Johns Hopkins University JHU remotely operated underwater vehicle in the JHU Hydrodynamic Test Facility. At‐sea field data were obtained from deep‐water survey missions of the Sentry autonomous underwater vehicle conducted in March, 2011 in the Kermadec Arc in the Southern Pacific Ocean. In addition, we report a comparative experimental evaluation of several recently reported calibration methods when employing low‐cost microelectromechanical system attitude sensors. In all these cases, the results reveal consistent differences in performance of the various methods when analyzed on navigation data from several different vehicle dives.

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Sensor alignment using rotors in Geometric Algebra

Cited by 6 publications

References 14 publications

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

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

Contributions to automated realtime underwater navigation

Advances in In Situ Alignment Calibration of Doppler and High/Low‐end Attitude Sensors for Underwater Vehicle Navigation: Theory and Experimental Evaluation

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