Inversion Estimation of AUV Attitude Based on Pressure Sensor Array

Abstract

Attitude is an essential parameter in autonomous navigation. Existing high-precision navigation sensors are expensive and large. Therefore, miniaturized and low-cost autonomous navigation technologies have become the research focus. Inspired by biomimetics, an inversion estimation model of autonomous undersea vehicle(AUV) attitude based on a pressure sensor array was constructed. The model takes known pressure and attitude data as input and trains the model parameters to use the pressure data to invert attitude information. The effectiveness of the proposed method was verified through multiple experiments with different trajectories, depths, speeds, and other factors. The experimental results show that using the proposed method, the estimated pitch angle error is below 2.069 9°, and the estimated roll angle error is below 2.990 8°. Furthermore, there are no cumulative attitude errors; this, implies that the proposed method has strong potential for applications in autonomous navigation systems.

Keywords

• autonomous undersea vehicle
• autonomous navigation
• pressure sensor array
• attitude inversion estimation