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

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトルICEIC 2019 - International Conference on Electronics, Information, and Communication
出版者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9788995004449
DOI
出版物ステータスPublished - 2019 5 3
イベント18th International Conference on Electronics, Information, and Communication, ICEIC 2019 - Auckland, New Zealand
継続期間: 2019 1 222019 1 25

出版物シリーズ

氏名ICEIC 2019 - International Conference on Electronics, Information, and Communication

Conference

Conference18th International Conference on Electronics, Information, and Communication, ICEIC 2019
New Zealand
Auckland
期間19/1/2219/1/25

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Shimizu, J., Hata, K., Koike, Y., Morino, H., Enomoto, E., Husna, M., ... Sakata, K. (2019). Simulation on improvement of position estimation accuracy in underwater using MEMS IMU. : 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