Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation

<table>Comparative results for real and simulated IMU sensor error for Pitch angle. (a) Window of the time series (degrees). (b) Allan variance plot (degrees). (c) FFT of time series (<svg height="17.5" id="M185" style="vertical-align:-2.7337pt" version="1.1" viewbox="0 0 54.075001 17.5" width="54.075001" xmlns="http://www.w3.org/2000/svg">
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Journal of Robotics

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Figure 8

Figure 8: Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation 