relation: http://miis.maths.ox.ac.uk/miis/725/
title: Inertial navigation for divers
creator: Manus, Lorcan Mac
creator: Brown, Melvin
creator: Lewis, Alexander
creator: Melnik, A.
creator: Ramos, Angel Manuel
creator: Brett, Charles
creator: Wood, David
creator: von Glehn, Ingrid
creator: Dewynne, J.
creator: Katterbauer, Klemens
creator: Berger, Lorenz
creator: Bulkowski, Marcin
creator: Roberts, Paul
creator: Whittaker, Robert
creator: Grandison, Scott
creator: O'Keeffe, Stephen
subject: Transport and Automotive
description: A SCUBA diver would like to know his/her position underwater, rela- tive to the dive start position. GPS is not an option as the signals do not travel underwater. Transponder/pinger systems have already been developed, but these are expensive and require configuration by the boat operator and the diver.  A simple standalone affordable dead-reckoning system is needed, but it is inherently difficult to determine the diver’s movements. The system needs to be very cheap, so that price is not a barrier to its deployment. The system needs to be small.  The Study Group investigated the possibility of such a system making use of cheaply available accelerometer, gyroscope and magnetic field sensors, similar to those included in many modern smart phones.  The Study Group captured data using an Android device strapped to a skateboard to simulate the type of movements a diver might make underwater. Different modes of movement were evident from filtered versions of the sensor outputs, so indicating that a pedometry based solution ought to be feasible. The Study Group then formulated and investigated the feasibility of a generic dead-reckoning system. Although sensors provide more data than is strictly necessary, significant errors arise from imperfect calibration and from noise for which the Study Group derived estimates of the resulting drift in position over time. The accuracy of practical numerical integration schemes in the context of rotating frames was investigated, and a Kalman filter was used to reduce error in the orientation data by combining accelerometer and gyroscopic data.
date: 2012
type: Study Group Report
type: NonPeerReviewed
format: application/pdf
language: en
identifier: http://miis.maths.ox.ac.uk/miis/725/1/ESGI85-VR_CaseStudy.pdf
identifier:   Manus, Lorcan Mac and Brown, Melvin and Lewis, Alexander and Melnik, A. and Ramos, Angel Manuel and Brett, Charles and Wood, David and von Glehn, Ingrid and Dewynne, J. and Katterbauer, Klemens and Berger, Lorenz and Bulkowski, Marcin and Roberts, Paul and Whittaker, Robert and Grandison, Scott and O'Keeffe, Stephen  (2012) Inertial navigation for divers.  [Study Group Report]