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

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Resumen

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.

Idioma originalInglés
Título de la publicación alojada2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings
EditoresJose David Cely Callejas
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781538683729
DOI
EstadoPublicada - 5 dic. 2018
Evento9th IEEE ANDESCON, ANDESCON 2018 - Cali, Colombia
Duración: 22 ago. 201824 ago. 2018

Serie de la publicación

Nombre2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings

Conferencia

Conferencia9th IEEE ANDESCON, ANDESCON 2018
País/TerritorioColombia
CiudadCali
Período22/08/1824/08/18

Nota bibliográfica

Publisher Copyright:
© 2018 IEEE.

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