Simulation on improvement of position estimation accuracy in underwater using MEMS IMU

Junji Shimizu, Kenta Hata, Yoshikazu Koike, Hiroaki Morino, Eriko Enomoto, Masyhuri Husna, Noritaka Hirohashi, Etsuro Shimizu, Kunio Sakata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In recent years, development of an underwater observation system that is low cost and easy to operate is greatly required with the expansion of demand for marine resources survey acquiring rare metal and so on. The authors developed a free-fall type observation system of which body is glass sphere. Since the glass sphere has durability for high hydrodynamic pressure, retailed camera is able to be set inside the sphere to motion the sea environment. However, the positioning of the observation system is severe problem, because sinking motion is only provided by gravity or tidal force. To realize a low cost measurement system, we try to use MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit) for position estimation. The position by MEMS IMU has sensor noise and caused in large estimation error. In this paper, to reduce the estimation error, we propose the combination of optical range sensor. By adopting light rather than ultrasonic for range sensor, it is easy to adapt to systems using glass spheres. At first, sensor noise is modeled by allan variance calculated from measured stationary data, position estimation simulation using the modeled sensor data was performed. By adding the ranging data, the standard deviation of the position estimation can be reduced in (x, y)= (28.8%, 4.43%) with comparison of estimation by the sensor data of MEMS IMU and the depth sensor.

Original languageEnglish
Title of host publicationICEIC 2019 - International Conference on Electronics, Information, and Communication
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9788995004449
DOIs
Publication statusPublished - 2019 May 3
Event18th International Conference on Electronics, Information, and Communication, ICEIC 2019 - Auckland, New Zealand
Duration: 2019 Jan 222019 Jan 25

Publication series

NameICEIC 2019 - International Conference on Electronics, Information, and Communication

Conference

Conference18th International Conference on Electronics, Information, and Communication, ICEIC 2019
CountryNew Zealand
CityAuckland
Period19/1/2219/1/25

Keywords

  • Free-fall type observation system
  • Glass sphere
  • IMU (Inertial Measurement Unit)
  • Inertial navigation system
  • Kalman filter
  • MEMS (Micro Electro Mechanical System)
  • Range sensor

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Shimizu, J., Hata, K., Koike, Y., Morino, H., Enomoto, E., Husna, M., Hirohashi, N., Shimizu, E., & Sakata, K. (2019). Simulation on improvement of position estimation accuracy in underwater using MEMS IMU. In ICEIC 2019 - International Conference on Electronics, Information, and Communication [8706500] (ICEIC 2019 - International Conference on Electronics, Information, and Communication). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ELINFOCOM.2019.8706500