An inertial navigation system has been developed to obtain information on the orientation and position of an unmanned surface vehicle (USV). The prototype consists of a GPS and low-cost microelectromechanical sensors, such as accelerometers, gyroscopes and magnetometers. In order to determine the attitude and heading, a sensor fusion algorithm is proposed using the standard Kalman filter, which runs on the MSP432P401R microcontroller with ARM Cortex-M4F 32-bit architecture. The experimental results in the laboratory and at sea showed the viability of the system.
|Title of host publication||2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings|
|Editors||Jose David Cely Callejas|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|State||Published - 5 Dec 2018|
|Event||9th IEEE ANDESCON, ANDESCON 2018 - Cali, Colombia|
Duration: 22 Aug 2018 → 24 Aug 2018
|Name||2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings|
|Conference||9th IEEE ANDESCON, ANDESCON 2018|
|Period||22/08/18 → 24/08/18|
Bibliographical noteFunding Information:
ACKNOWLEDGMENT The authors thank to the Universidad Nacional de San Agustín de Arequipa for financial support given to this research under process grant number 144-2016-UNSA. The authors also thank to the Marine Institute of Peru for allowing them to visit its laboratories in Camana, Arequipa-Peru.
© 2018 IEEE.
- Kalman filter
- Navigation of unmanned marine vehicles
- sensor fusion
- sensors in marine systems