{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:21:27Z","timestamp":1762521687276,"version":"3.41.2"},"reference-count":15,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2014,6,10]],"date-time":"2014-06-10T00:00:00Z","timestamp":1402358400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014,6,10]]},"abstract":"<jats:sec>\n               <jats:title content-type=\"abstract-heading\">Purpose<\/jats:title>\n               <jats:p> \u2013 This paper presents the results of a heading estimation method for a remotely operated vehicle (ROV). The output rate of commercially available underwater compasses is typically in the order of a few Hz. Heading frequencies of at least 1 KHz are desirable for navigation and control purposes. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title>\n               <jats:p> \u2013 The estimation was performed by fusioning the signals of three inertial sensors: the ROV\u2019s own underwater compass (which operates roughly at 10 Hz or less), the ROV\u2019s embedded gyro and an additional angular rate sensor that provides readings from 1 to 3 KHz. The output signal of the additional angular rate sensor is not part of the proposed Kalman filter. Nonetheless a five-point Newton-Cotes closed integration of such signal is fed into the Kalman filter implementation that performs the required heading estimation at 1 KHz or more. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Findings<\/jats:title>\n               <jats:p> \u2013 The proposed Kalman filter implementation is a suitable approach to estimate heading position even though the original compass signal rate is significantly slower than the signal required for both assisted and autonomous control. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title>\n               <jats:p> \u2013 The estimated heading yield good results in both simulation and experimental environments. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title>\n               <jats:p> \u2013 The method was embedded in a dedicated 16-bit DSP that handles both the acquisition of the three signals and the heading estimation, hence resulting in a very low-cost solution. The embedded solution was tested in the developed submarine and the obtained high-rate heading parameter is now used by the control system of the ROV.<\/jats:p>\n            <\/jats:sec>","DOI":"10.1108\/ir-04-2014-0321","type":"journal-article","created":{"date-parts":[[2014,7,10]],"date-time":"2014-07-10T21:06:51Z","timestamp":1405026411000},"page":"347-350","source":"Crossref","is-referenced-by-count":4,"title":["Multi-rate sensor fusion for underwater heading estimation"],"prefix":"10.1108","volume":"41","author":[{"given":"Manuel","family":"Bandala","sequence":"first","affiliation":[]},{"given":"Tom\u00e1s","family":"Salgado","sequence":"first","affiliation":[]},{"given":"Ram\u00f3n","family":"Ch\u00e1vez","sequence":"first","affiliation":[]}],"member":"140","reference":[{"key":"key2020123101064075600_b1","unstructured":"Analog Devices\n                (2010), \u00b1 50\/\u00b0Sec Yaw Rate Gyroscope. ADXRS623, Rev A."},{"key":"key2020123101064075600_b2","doi-asserted-by":"crossref","unstructured":"Aydemir, G.A.\n                and \n                  Saranli, A.\n                (2012), \u201cCharacterization and calibration of MEMS inertial sensors for state and parameter estimation applications\u201d, Measurement, Vol. 45 No. 5, pp. 1210-1225.","DOI":"10.1016\/j.measurement.2012.01.015"},{"key":"key2020123101064075600_b4","unstructured":"Chapra, S.C.\n                (2012), Applied Numerical Methods, McGraw Hill, Tufs University, Boston."},{"key":"key2020123101064075600_b6","doi-asserted-by":"crossref","unstructured":"Gebre-Egziabher, D.\n               , \n                  Hayward, R.C.\n                and \n                  Powell, J.D.\n                (2004), \u201cDesign of multi-sensor attitude determination system\u201d, IEEE Transactions on Aerospace and Electronic Systems, Vol. 40 No. 2.","DOI":"10.1109\/TAES.2004.1310010"},{"key":"key2020123101064075600_b3","unstructured":"KVH\n                (2011) Innovative Stand-alone Heading Sensor. C100. Rev 1."},{"key":"key2020123101064075600_b7","doi-asserted-by":"crossref","unstructured":"Martin, P.\n                and \n                  Salan, E.\n                (2010), \u201cDesign and implementation of a low-cost observer-based attitude and heading reference system\u201d, Control Engineering Practice, Vol. 18 No. 7, pp. 712-722.","DOI":"10.1016\/j.conengprac.2010.01.012"},{"key":"key2020123101064075600_b8","unstructured":"Matsuzaki, S.\n                (1994), \u201cApparatus for estimating current heading using magnetic and angular velocity sensors\u201d, United States Patent 5319561."},{"key":"key2020123101064075600_b9","doi-asserted-by":"crossref","unstructured":"Newhall, B.K.\n               , \n                  Jenkins, J.W.\n                and \n                  Dietz, J.E.G.\n                (2004), \u201cImproved estimation of the shape of towed sonar arrays\u201d, Instrumentation and Measurement Technology Conference, IMTC 04. Proceedings of the 21st IEEE, Como, Vol. 2, pp. 873-876.","DOI":"10.1109\/IMTC.2004.1351201"},{"key":"key2020123101064075600_b10","unstructured":"Phuong, N.\n               , \n                  Kang, H.\n                and \n                  Sug, Y. and Y. Ro\n                (2009), \u201cA DCM based orientation estimation algorithm with an inertial measurement unit and magnetic compass\u201d, Journal of Universal Computer Science, Vol. 15 No. 4, pp. 859-876."},{"key":"key2020123101064075600_b11","doi-asserted-by":"crossref","unstructured":"Sabatini, A.M.\n                (2006), \u201cQuaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing\u201d, IEEE Transactions on Biomedical Engineering, Vol. 53 No. 7, pp. 1346-1356.","DOI":"10.1109\/TBME.2006.875664"},{"key":"key2020123101064075600_b12","doi-asserted-by":"crossref","unstructured":"Salgado-Jimenez, T.\n               , \n                  Gonzalez-Lopez, J.L.\n               , \n                  Pedraza-Ortega, J.C.\n                and \n                  Garcia-Valdovinos, L.G.\n                (2010), \u201cDesign of ROVs for the Mexican power and oil industries\u201d, First International Conference on Applied Robotics for the Power Industry (CARPI 2010) IEEE, October 5-8, Montreal.","DOI":"10.1109\/CARPI.2010.5624437"},{"key":"key2020123101064075600_b5","unstructured":"Silicon Sensing\n                (2009), High Precision MEMS Gyroscope. 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Rev 3."},{"key":"key2020123101064075600_b13","doi-asserted-by":"crossref","unstructured":"Suh, Y.\n                (2010), \u201cOrientation estimation using a quaternion-based indirect Kalman filter with adaptive estimation of external acceleration\u201d, IEEE Transactions on Instrumentation and Measurement, Vol. 59 No. 12, pp. 3296-3305.","DOI":"10.1109\/TIM.2010.2047157"},{"key":"key2020123101064075600_b14","doi-asserted-by":"crossref","unstructured":"Zhan, K.\n                and \n                  Wang, J.\n                (2011), \u201cModeling and simulation of the conventional submarine evasion effect with the constraint on battery consumption and speed\u201d, 2011 Fourth International Conference on Information and Computing (ICIC), Phuket Island, pp. 511-513.","DOI":"10.1109\/ICIC.2011.76"},{"key":"key2020123101064075600_b15","doi-asserted-by":"crossref","unstructured":"Zhao, L.\n                (2008), \u201cThe research of inertial navigation system based on submarine space motion\u201d, Pacific-Asia Workshop on Computational Intelligence and Industrial Application, PACIIA \u201808, Wuhan, pp. 751-755.","DOI":"10.1109\/PACIIA.2008.71"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/IR-04-2014-0321","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-04-2014-0321\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-04-2014-0321\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:38:47Z","timestamp":1753393127000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/41\/4\/347-350\/182667"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,6,10]]},"references-count":15,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2014,6,10]]}},"alternative-id":["10.1108\/IR-04-2014-0321"],"URL":"https:\/\/doi.org\/10.1108\/ir-04-2014-0321","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2014,6,10]]}}}