Journal of Robotics

Research Article

Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation

Table 2

Identified parameters for the IMU sensor model1.
V a r i a b l e 𝜏 𝑟 ( 𝑅 𝑥 𝑥 ( s ) ) 𝜏 𝑟 ( A l l a n ( s ) ) Low cut (Hz) High cut (Hz) 𝜎 b i a s 𝜎 b w
Roll° 629 2 0 ∗ 5 20 0.1635 0.0072
Pitch° 578 2 0 ∗ 6 20 0.1553 0.0072
Yaw° 1403 2 0 ∗ 5 12 0.2144 0.0095
AccX g 0 . 6 4 4 ∗ 10 0.3 3 5 . 2 7 6 8 𝑒 − 4 0.0041
AccY g 0 . 5 8 1 ∗ 10 0.25 3 0.0011 0.0037
AccZ g 0 . 6 4 5 ∗ 10 0.3 3 6 . 4 6 5 4 𝑒 − 4 0.0033
AngRateX°/s 0 . 7 6 7 ∗ 15—— 0.0076 0.0076
AngRateY°/s 0 . 7 5 4 ∗ 20—— 0.0074 0.0074
AngRateZ°/s 0 . 7 4 5 ∗ 10—— 0.0057 0.0057
1 𝑅 𝑥 𝑥 means that used time constant is from autocorrelation, and 𝐴 𝑙 𝑙 𝑎 𝑛 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 𝜎 b i a s and 𝜎 b w , respectively. 𝜎 b w and 𝜎 b i a s have the same unities of their respective measurement variables.
∗ Used in the simulations.