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

Alexander Ccolque-Churquipa; Juan Carlos Cutipa Luque; Daniel Domingo Yanyachi Aco Cardenas

doi:10.1109/ANDESCON.2018.8564668

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

Alexander Ccolque-Churquipa, Juan Carlos Cutipa Luque, Daniel Domingo Yanyachi Aco Cardenas

Departamento Académico de Ing. Electrónica

Resultado de la investigación: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

3 Citas (Scopus)

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 original	Inglés
Título de la publicación alojada	2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings
Editores	Jose David Cely Callejas
Editorial	Institute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)	9781538683729
DOI	https://doi.org/10.1109/ANDESCON.2018.8564668
Estado	Publicada - 5 dic. 2018
Evento	9th IEEE ANDESCON, ANDESCON 2018 - Cali, Colombia Duración: 22 ago. 2018 → 24 ago. 2018

Serie de la publicación

Nombre	2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings

Conferencia

Conferencia	9th IEEE ANDESCON, ANDESCON 2018
País/Territorio	Colombia
Ciudad	Cali
Período	22/08/18 → 24/08/18

Nota bibliográfica

Publisher Copyright:
© 2018 IEEE.

Acceder al documento

10.1109/ANDESCON.2018.8564668

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Ccolque-Churquipa, A., Cutipa Luque, J. C., & Yanyachi Aco Cardenas, D. D. (2018). Implementation of a Measurement System for the Attitude, Heading and Position of a USV Using IMUs and GPS. En J. D. C. Callejas (Ed.), 2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings [8564668] (2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ANDESCON.2018.8564668

Ccolque-Churquipa, Alexander ; Cutipa Luque, Juan Carlos ; Yanyachi Aco Cardenas, Daniel Domingo. / Implementation of a Measurement System for the Attitude, Heading and Position of a USV Using IMUs and GPS. 2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings. editor / Jose David Cely Callejas. Institute of Electrical and Electronics Engineers Inc., 2018. (2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings).

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abstract = "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.",

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Ccolque-Churquipa, A, Cutipa Luque, JC & Yanyachi Aco Cardenas, DD 2018, Implementation of a Measurement System for the Attitude, Heading and Position of a USV Using IMUs and GPS. En JDC Callejas (ed.), 2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings., 8564668, 2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings, Institute of Electrical and Electronics Engineers Inc., 9th IEEE ANDESCON, ANDESCON 2018, Cali, Colombia, 22/08/18. https://doi.org/10.1109/ANDESCON.2018.8564668

Implementation of a Measurement System for the Attitude, Heading and Position of a USV Using IMUs and GPS. / Ccolque-Churquipa, Alexander; Cutipa Luque, Juan Carlos ; Yanyachi Aco Cardenas, Daniel Domingo.

2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings. ed. / Jose David Cely Callejas. Institute of Electrical and Electronics Engineers Inc., 2018. 8564668 (2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings).

Resultado de la investigación: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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AB - 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.

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Ccolque-Churquipa A, Cutipa Luque JC , Yanyachi Aco Cardenas DD. Implementation of a Measurement System for the Attitude, Heading and Position of a USV Using IMUs and GPS. En Callejas JDC, editor, 2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2018. 8564668. (2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings). doi: 10.1109/ANDESCON.2018.8564668

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

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