PRELIMINARY EXPERIMENTS WITH A CALIBRATION TECHNIQUE FOR GYRO AND DOPPLER NAVIGATION SENSORS FOR PRECISION UNDERWATER NAVIGATION

摘要

This paper addresses the calibration of bottom-lock Doppler sonar for the navigation of underwater robot vehicles. A least-squares in-situ method is reported for the estimation of the rotational alignment between a bottom-lock Doppler sonar and a gyroscope, employing sensors commonly used abroad underwater vehicles.