Attitude and Heave Estimation for Ships using MEMS-based Inertial Measurements

被引：17
|
作者：
Bryne, Torleiv H. [1 ]
Rogne, Robert H. [1 ]
Fossen, Thor I. [1 ]
Johansen, Tor A. [1 ]
机构：
[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7191 Trondheim, Norway
来源：
IFAC PAPERSONLINE | 2016年 / 49卷 / 23期
关键词：
Inertial navigation; Altitude estimation; Nonlinear observers; Inertial Measurement Unit; Marine systems; OBSERVERS; GYRO;
D O I：
10.1016/j.ifacol.2016.10.496
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We conduct full-scale experimental validation comparison of three different nonlinear attitude observers, two of them with inherent heave estimation, in two different operational scenarios encountered by an offshore vessel in the North Sea. Two different micro-electro-mechanical inertial measurement units are the primary sensors for driving the nonlinear observers, which are aided by gyrocompasses and position reference systems. The results are compared with data from well-proven industry standard vertical reference units. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：568 / 575
页数：8
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