Implementation of a Measurement System for the Attitude, Heading and Position of a USV Using IMUs and GPS

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations


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.

Original languageEnglish
Title of host publication2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings
EditorsJose David Cely Callejas
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538683729
StatePublished - 5 Dec 2018
Event9th IEEE ANDESCON, ANDESCON 2018 - Cali, Colombia
Duration: 22 Aug 201824 Aug 2018

Publication series

Name2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings


Conference9th IEEE ANDESCON, ANDESCON 2018

Bibliographical note

Funding 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.

Publisher Copyright:
© 2018 IEEE.


  • Kalman filter
  • Navigation of unmanned marine vehicles
  • sensor fusion
  • sensors in marine systems


Dive into the research topics of 'Implementation of a Measurement System for the Attitude, Heading and Position of a USV Using IMUs and GPS'. Together they form a unique fingerprint.

Cite this