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5

A compass will work just fine under water, I am an avid scuba diver and a compass is a standard piece of kit for navigating.


4

I encountered this problem myself when making an extended Kalman filter for a quadrotor. You have to check if the estimate goes above or below +/- pi, and then correct it if it does. You can do this with a simple if statement: if (angle > pi) angle = angle - 2*pi; else if (angle < -pi) angle = angle + 2*pi; You could also throw in a while ...


2

We always need a reference for calibration to which we calibrate our sensor. For example in case of 3D accelerometer we use gravity as a reference which is assumed vertically downwards at a place. For magnetometer calibration we use Earth's magnetic field as a reference. But we dont know the direction of resultant magnetic field vector at the place ...


1

Any magnetic compass absolutely will work underwater. Several companies (e.g., PNI, OceanServer) build and sell electronic compass modules based on flux-gate technology specifically for underwater applications. Buoyancy gliders and small AUVs or ROVs usually rely on flux gate compasses to sense heading because they are small, relatively inexpensive, and ...


1

You may want to take a look at FreeIMU library that does 'data fusion' that combine raw data from multiple sensors and present user with a much reliable, stable and easy-to-use data in a roll, pitch and yaw (direction as you require) format. FreeIMU http://www.varesano.net/projects/hardware/FreeIMU This version from the original author use MPU60X0 chip. ...


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