A numerically efficient method for calculation of the angle of heel of a navigational buoy

This paper presents a numerically efficient method developed for obtaining heel angle information on navigational buoys by the use of onboard low power embedded controllers equipped with solid state acceleration sensors, focusing on the signal processing principles employed. Calculation of the buoy heel (tilt angle or inclination) is based on continuous measurement of acceleration of the buoy in all three planes of movement, accomplished using a 3-axial solid state accelerometer (g-sensor) with the maximum range of ±3 g. The sensor is integrated with an Aid to Navigation (AtoN) telematics module that is subject to low power consumption requirements and size restrictions resulting in limited computational capability. Results of tests performed on operational marine buoys are presented at the end of the article.