AUV-Based Plume Tracking: A Simulation Study

Table 1

Sensor characteristics.

Sensor type	Measurand	Frequency	Noise,
Accelerometer	Specific force	100 Hz	0.1 m/s^2
Gyroscope	Angular velocity	100 Hz	0.005 rad/s
Attitude sensors 1 and 2	Roll & pitch	10 Hz	0.05 rad
Attitude sensor 3	Yaw	10 Hz	0.2 rad
Pressure sensor	Pressure	5 Hz	200 Pa
DVL	Linear velocity	5 Hz	0.05 m/s
Acoustic receivers	Time delay	500 kHz	μs