Low cost heading sensing system for an autonomous aquatic surface vehicle

Author

de Almeida, Thales E. P. ; de A Monteiro, Jose R. B. ; de Paula, Geyverson T. ; Santana, Marcelo P. ; Pereira, William C. ; de Oliveira, Carlos M. R.

Author_Institution

EESC, USP, Sao Carlos, Brazil

fYear

2014

Firstpage

1

Lastpage

6

Abstract

This work describes the development of a heading reference system composed of low cost inertial sensors with MicroElectroMechanical Systems (MEMS) technology, which present high noise levels. Thus, filtering and sensor´s measurements fusion is done in order to achieve a reliable estimation, trough an extended Kalman filter. The system is used for navigation and control of an autonomous aquatic surface vehicle. In this work, the principles of inertial navigation, orientation representation as well as the coordinate frames involved are investigated, presenting the quaternion method, and the update procedure according to the heading changes. The developed system was tested in the lab and on a trimaran shaped vessel navigating on a dam.

Keywords

Kalman filters; inertial navigation; marine vehicles; micromechanical devices; mobile robots; motion control; nonlinear filters; telerobotics; MEMS; autonomous aquatic surface vehicle; coordinate frames; dam; extended Kalman filter; heading reference system; inertial navigation; low cost heading sensing system; low cost inertial sensors; microelectromechanical systems technology; orientation representation; quaternion method; trimaran shaped vessel; update procedure; Kalman filters; Navigation; Quaternions; Sensor systems; Vectors; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Industry Applications (INDUSCON), 2014 11th IEEE/IAS International Conference on

Print_ISBN

978-1-4799-5550-3

Type

conf

DOI

10.1109/INDUSCON.2014.7059447

Filename

7059447