A Coarse Alignment Method Based on Vector Observation and Truncated Vectorized K-matrix for Underwater Vehicle

Citation Author(s):
Haoqian
Huang
Hohai University
Submitted by:
Haoqian Huang
Last updated:
Sun, 01/30/2022 - 04:47
DOI:
10.21227/qhgv-fj67
License:
Creative Commons Attribution
49 Views
Categories:
Sensors
Keywords:
Underwater vehicle; Initial alignment
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Abstract 

A novel coarse alignment algorithm based on vector observation and truncated vectorized κ-matrix is proposed. These data is used to test the performance of the proposed alignment method.

Instructions: 

These data is used to test the performance of the proposed alignment method. (A novel coarse alignment algorithm based on vector observation and truncated vectorized κ-matrix is proposed).

These data includes the raw data of inertial measurement units,  the reference attitude angles, and the results of alignment.

All these data is simulated.

The frequency of inertial measurement units is 100Hz.

The data are explained below:

imu=[gryo;acc;time]       Unit is rad; m/s; s

reference_angle includes angles of pitch, roll and yaw. Unit is deg;

sim_result includes errors of pitch, roll and yaw. Unit is deg.

 

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