{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,31]],"date-time":"2025-10-31T07:48:39Z","timestamp":1761896919378,"version":"build-2065373602"},"reference-count":31,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2019,1,15]],"date-time":"2019-01-15T00:00:00Z","timestamp":1547510400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Research Foundation of Korea; Ministry of Oceans and Fisheries, Korea","award":["NRF-2016R1D1A3A03919241"],"award-info":[{"award-number":["NRF-2016R1D1A3A03919241"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a method of estimating the attitude of an underwater vehicle. The proposed method uses two field measurements, namely, a gravitational field and a magnetic field represented in terms of vectors in three-dimensional space. In many existing methods that convert the measured field vectors into Euler angles, the yaw accuracy is affected by the uncertainty of the gravitational measurement and by the uncertainty of the magnetic field measurement. Additionally, previous methods have used the magnetic field measurement under the assumption that the magnetic field has only a horizontal component. The proposed method utilizes all field measurement components as they are, without converting them into Euler angles. The bias in the measured magnetic field vector is estimated and compensated to take full advantage of all measured field vector components. Because the proposed method deals with the measured field independently, uncertainties in the measured vectors affect the attitude estimation separately without adding up. The proposed method was tested by conducting navigation experiments with an unmanned underwater vehicle inside test tanks. The results were compared with those obtained by other methods, wherein the Euler angles converted from the measured field vectors were used as measurements.<\/jats:p>","DOI":"10.3390\/s19020330","type":"journal-article","created":{"date-parts":[[2019,1,16]],"date-time":"2019-01-16T03:09:13Z","timestamp":1547608153000},"page":"330","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4277-3450","authenticated-orcid":false,"given":"Nak Yong","family":"Ko","sequence":"first","affiliation":[{"name":"Department of Electronic Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea"}]},{"given":"Seokki","family":"Jeong","sequence":"additional","affiliation":[{"name":"Department of Control and Instrumentation Engineering, Graduate School, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0482-6868","authenticated-orcid":false,"given":"Suk-seung","family":"Hwang","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1143-8281","authenticated-orcid":false,"given":"Jae-Young","family":"Pyun","sequence":"additional","affiliation":[{"name":"Department of Information and Communication Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea"}]}],"member":"1968","published-online":{"date-parts":[[2019,1,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1599","DOI":"10.3390\/s17071599","article-title":"Polar grid navigation algorithm for unmanned underwater vehicles","volume":"17","author":"Yan","year":"2017","journal-title":"Sensors"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1900","DOI":"10.1109\/TMECH.2016.2559941","article-title":"An attitude estimation algorithm for mobile robots under unknown magnetic disturbances","volume":"21","author":"Costanzi","year":"2016","journal-title":"IEEE\/ASME Trans. 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