Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation
Table 2
Identified parameters for the IMU sensor model1.
Low cut (Hz)
High cut (Hz)
Roll°
629
5
20
0.1635
0.0072
Pitch°
578
6
20
0.1553
0.0072
Yaw°
1403
5
12
0.2144
0.0095
AccX g
10
0.3
3
0.0041
AccY g
10
0.25
3
0.0011
0.0037
AccZ g
10
0.3
3
0.0033
AngRateX°/s
15
—
—
0.0076
0.0076
AngRateY°/s
20
—
—
0.0074
0.0074
AngRateZ°/s
10
—
—
0.0057
0.0057
means that used time constant is from autocorrelation, and from Allan variance plot. Low cut and high cut correspond to the cutting-off frequencies of the low-pass and high-pass filter used to calculate and , respectively. and have the same unities of their respective measurement variables. Used in the simulations.