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A heading observer for ROVs under roll and pitch oscillations and acceleration disturbances using low-cost sensors


Le, KD and Nguyen, HD and Ranmuthugala, D and Forrest, A, A heading observer for ROVs under roll and pitch oscillations and acceleration disturbances using low-cost sensors, Ocean Engineering, 110, (Part A) pp. 152-162. ISSN 0029-8018 (2015) [Refereed Article]

Copyright Statement

Copyright 2015 Elsevier Ltd. All rights reserved.

DOI: doi:10.1016/j.oceaneng.2015.10.020


This paper presents the development of a heading angle observer for Underwater Remotely Operated Vehicles (ROVs) during dynamic conditions in the presence of roll/pitch oscillation and acceleration disturbances. Unlike previous algorithms, which focused on deep water working environments where the external accelerations and oscillation were rather small, this paper proposes a heading observer that deals with the effects of near surface working conditions on ROVs, such as waves or unexpected water currents. These effects cause significant roll and pitch disturbances as well as high-acceleration drift motions, which affect the measurements from the incorporated sensor system. To overcome this situation, a novel heading observer is proposed, consisting of two Kalman filter (KF) steps: one for acceleration elimination and one for roll and pitch oscillation compensation. The data from the inertial measurement unit and the magnetometer are combined to estimate and compensate for external accelerations and roll/pitch disturbances by adjusting the covariance values. Free running tests, based on a physical ROV model, were conducted under various working environments to verify the performance of the proposed observer. The comparison with previous algorithms was also made to verify the effectiveness of the proposed algorithm.

Item Details

Item Type:Refereed Article
Keywords:ROV, Kalman filter, heading observer
Research Division:Information and Computing Sciences
Research Group:Artificial intelligence
Research Field:Intelligent robotics
Objective Division:Defence
Objective Group:Defence
Objective Field:Intelligence, surveillance and space
UTAS Author:Le, KD (Mr Khoa Le)
UTAS Author:Nguyen, HD (Dr Hung Nguyen)
UTAS Author:Ranmuthugala, D (Professor Dev Ranmuthugala)
UTAS Author:Forrest, A (Dr Alexander Forrest)
ID Code:104015
Year Published:2015
Web of Science® Times Cited:7
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2015-10-30
Last Modified:2018-03-20

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