Low-Cost MEMS Accelerometers for Short Duration Micro ROV Distance Measurement

Abstract:

In this paper the attempt to make an analysis of short duration Micro ROV distance measurement using low-cost MEMS accelerometers was presented. The main emphasis was placed on the gravity compensation and state estimation with Kalman filter method. The MEMS accelerometers error characteristics and the process model for measuring displacement of Micro ROV using accelerometers were presented. Finally, the examples of the verification results were performed.

• Periodical: Solid State Phenomena (Volume 210)
• Pages: 280-286
• DOI: https://doi.org/10.4028/www.scientific.net/SSP.210.280
• Online since: October 2013
• Authors: Bogdan Żak, Stanisław Hożyń
• Keywords: Kalman Filter (KF), MEMS Accelerometer, Micro ROV

References

[1] R. Brown, P. Hwang, Introduction to Random Signals and Applied Kalman Filtering: with MATLAB exercises and solution, John Willey & Sons, Chichester, (1997).

[2] J. Crassidis, J. Junkins, Optimal Estimation of Dynamic Systems, CRC Press LLC, Florida, (2004).

[3] T. Fossen, Marine Control Systems, Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles, Marine Cybernetics, Trondheim, (2002).

[4] T. Fossen, Robotics, Handbook of Marine Craft Hydrodynamics and Motion Control, John Willey & Sons, Chichester, (2011).

[5] J. Garus, Small ROV to Detection and Identification of Dangerous Underwater Objects, in: Journal of Intelligent and Robotic Systems, The Online Journal of Science and Technology, Vol. 2, No 1, 2012, pp.1-6.

[6] M. Grewal, L. Weill, A. Andrews, Global Positioning Systems, Inertial Navigation and Integration, John Willey & Sons, Hoboken, (2007).

DOI: 10.1002/0470099720

[7] P. Groves, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Artechhouse, Boston, (2008).

[8] A. Lawrence, Modern Inertial Technology: Navigation, Guidance, and Control, Springer-Verlag, New York, (1998).

[9] G. Pang, H. Liu, Evaluation of a Low-cost MEMS Accelerometer for Distance Measurement, in: Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, Dordrecht, 2001, pp.249-265.

[10] P. Szymak, T. Praczyk, Control systems of underwater vehicles in multi-agent system of underwater inspection, in: ACMOS'09 Proceedings of the 11th WSEAS international conference on Automatic control, modelling and simulation, Wisconsin, 2009. pp.153-156.

[11] O. Woodman, An Introduction to Inertial Navigation, in: Technical reports, Computer Laboratory, University of Cambridge, Cambridge, 2007, pp.1-37.