Attitude estimation and DVL based navigation using low-cost MEMS AHRS for UUVs

This paper addresses attitude estimation for UUVs(Unmanned Underwater Vehicles) using low-cost MEMS(Microelectromechanical Systems) AHRS(Attitude Heading Reference System). It compares extended Kaiman filter, unscented Kaiman filter, and complementary filter method used for attitude estimation. The experiment uses the estimated attitude for localization of a UUV(Unmanned Underwater Vehicle) based on velocity measured in vehicle coordinate frame by DVL(Doppler Velocity Log). The experiment shows that EKF and UKF improve attitude accuracy over the method without filtering.