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1、LogSensorCalibrationUsingM-estimateJiDaxiongLiuJianLiuKaizhouDepartmantofUnderwaterRobotics,StateKeyLaboratoryofRobotics,ShenyangInstituteofAutomation,ChineseAcademyofScience.Nantastreet114th,ShenyangCity,LiaoningProvice,PRCAbstract-AcalibrationproblemforlogsensorofUUVis(seeFig.1
2、),wherexb-isintheUUVhorizontalplane,pointingestablishedandtheproblemcanbedividedintotwoseparatetobow;yb-isintheUUVhorizontalplane,pointingtoparts:misalignmentangleandscalefactoroflogsensor.Insteadstarboard;zb-isintheperpendiculartoUUVhorizontalplane,ofusingtheconventionalleastsqu
3、arealgorithm,afinecalibrationapproachbasedonM-estimateisusedtosuppresspointingupward.AnglesRs,Ps,Hsshowthemisalignmenttheeffectofnon-whitenoise.Theadaptivefactorrelationtobetweenlogsensormainaxis(xs,ys,zs)andcompassmainaxiscalibrationprecisionisbroughtforwardwhichisdifferentfrom(
4、xc,yc,zc),nottheonebetweenUUVreferencemainaxisandusualforgettingfactor.Thefeasibilityoftheapproachislogsensormainaxisorcompassmainaxis.Therollandpitchdemonstratedinthetestofseatrail.misalignmentanglesRs,PsmeasurethelackofparallelismI.INTRODUCTIONzbzczsPThelogsensorhastobecalibrat
5、edwithrespecttocompassspriortobeingusedifalogsensorisusedinUUV(UnmannedUnderwaterVehicle).Thecalibrationisfornavigationaidingwithoptimalperformance.Usualcalibrationalgorithmisleastsquareestimationmethod(LSE)[1].Itisvalidunderwhiteonoise.However,thesensordataarecommonlynotconsiste
6、ntwiththenominalmodelassumption.Infact,GPSpositionRHxberrorsarenon-whitebecausetheyaredeterminedbypseudo-ssxcxsrangemeasurementsandsatellitegeometrywithrespecttoysyGPSreceiver’ssite[2].Furthermore,theGPSoutputsmaybecybdisturbedbyimpulsenoiseduetounknownenvironments.Figure1.Threer
7、eferenceframeinUUVUndermanysuchadverseconditions,theperformanceofthebetweencompasshorizontalplaneandlogsensorhorizontallinearfiltersdeterioratessignificantly.Forexample,LSEplane.Generally,theirvaluecanbekepttothedefaultvaluealgorithmperformsbadlyunderimpulsenoiseiflackofzeroaslon
8、gastheydonotexceedseveraldegrees.Therefo
