Title page for ETD etd-08082005-173535

Type of Document Master's Thesis
Author Kapaldo, Aaron J
URN etd-08082005-173535
Title Gyroscope Calibration and Dead Reckoning for an Autonomous Underwater Vehicle
Degree Master of Science
Department Electrical and Computer Engineering
Advisory Committee
Advisor Name Title
Stilwell, Daniel J. Committee Chair
Baumann, William T. Committee Member
Kachroo, Pushkin Committee Member
  • Adaptive Filtering
  • Inertial Navigation
  • Dead Reckoning
  • Extended Kalman Filter
Date of Defense 2005-07-28
Availability unrestricted
Autonomous Underwater Vehicles (AUVs) are currently being used for many underwater

tasks such as mapping underwater terrain, detection of underwater objects, and assessment

of water quality. Possible uses continue to grow as the vehicles become smaller, more agile,

and less expensive to operate. However, trade-offs exist between making less expensive,

miniature AUVs and the quality at which they perform. One area affected by cost and size

is the onboard navigation system. To achieve the challenges of low-cost rate sensors, this

thesis examines calibration methods that are suitable for identifying calibration coefficients

in low-cost MEMS gyros.

A brief introduction to underwater navigation is presented and is followed by the development

of a model to describe the operation of a rate gyro. The model uses the integral

relationship between angular rate and angular position measurements. A compass and two

tilt sensors provide calibrated angular position data against which the three single axis gyros

are compared to obtain an error signal describing errors present in the angular rate


A calibration routine that adaptively identifies error parameters in the gyros is developed.

Update laws are chosen to recursively apply estimated error parameters to minimize the

system error signal. Finally, this calibration method is applied to a simple dead reckoning

algorithm in an attempt to measure the improvements calibration provides.

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