title: Sine Rotation Vector Method for Attitude Estimation of an Underwater Robot.
abstract: This paper describes a method for estimating the attitude of an underwater robot. The method employs a new concept of sine rotation vector and uses both an attitude heading and reference system (AHRS) and a Doppler velocity log (DVL) for the purpose of measurement. First, the acceleration and magnetic-field measurements are transformed into sine rotation vectors and combined. The combined sine rotation vector is then transformed into the differences between the Euler angles of the measured attitude and the predicted attitude; the differences are used to correct the predicted attitude. The method was evaluated according to field-test data and simulation data and compared to existing methods that calculate angular differences directly without a preceding sine rotation vector transformation. The comparison verifies that the proposed method improves the attitude estimation performance.
authors.affiliation: School of Electronic and Information Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea. nyko@chosun.ac.kr.
authors.forename: Nak Yong
authors.initials: NY
authors.lastname: Ko
authors.affiliation: Department of Control and Instrumentation Engineering, Graduate school, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea. seokki@chosun.kr.
authors.forename: Seokki
authors.initials: S
authors.lastname: Jeong
authors.affiliation: Division of Electrical, Electronic Communication and Computer Engineering, Chonnam National University, 50 Daehak-ro, Yeosu, Jeonnam 550-749, Korea. ycbae@chonnam.ac.kr.
authors.forename: Youngchul
authors.initials: Y
authors.lastname: Bae
keywords: Doppler velocity log; Euler angles; attitude; attitude heading and reference system; sine rotation vector; underwater robot; underwater vehicle