A MEMS-based Adaptive AHRS for Marine Satellite Tracking Antenna

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Resumé

Satellite tracking is a challenging task for marine applications. An attitude determination system should estimate the wave disturbances on the ship body accurately. To achieve this, an Attitude Heading Reference System (AHRS) based on Micro-Electro-Mechanical Systems (MEMS) sensors, composed of three-axis gyroscope, accelerometer and magnetometer, is developed for Marine Satellite Tracking Antenna (MSTA). In this paper, the attitude determination algorithm is improved using an adaptive mechanism that tunes the attitude estimator parameters based on an estimation of ship motion frequency. In order to get fast running cycle frequency of attitude estimator, Kalman filter is simplified to reduce calculation burden together with other improvemetns. An Immersion and Invariance (I\&I) frequency estimator is designed using Lyapunov theory to estimate the ship motion frequency. The estimated frequency is then used to adjust the gain matrix in Kalman filter. The designed algorithms are implemented in ARM processor and the attitude obtained is compared to a high-precision commercial Inertial Measurement Unit (IMU) to validate the performance of designed AHRS.
OriginalsprogEngelsk
BogserieIFAC-PapersOnLine
Vol/bind48
Udgave nummer16
Sider (fra-til)121-126
Antal sider4
ISSN1474-6670
DOI
StatusUdgivet - aug. 2015
BegivenhedIFAC Conference on Manoeuvring and Control of Marine Craft - Copenhagen, Danmark
Varighed: 24 aug. 201526 aug. 2015
Konferencens nummer: 10th

Konference

KonferenceIFAC Conference on Manoeuvring and Control of Marine Craft
Nummer10th
LandDanmark
ByCopenhagen
Periode24/08/201526/08/2015

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Ships
Antennas
Kalman filters
ARM processors
Marine applications
Units of measurement
Gyroscopes
Magnetometers
Invariance
Accelerometers
Sensors

Citer dette

@inproceedings{09550699d71e475ab7a7865b195b0a46,
title = "A MEMS-based Adaptive AHRS for Marine Satellite Tracking Antenna",
abstract = "Satellite tracking is a challenging task for marine applications. An attitude determination system should estimate the wave disturbances on the ship body accurately. To achieve this, an Attitude Heading Reference System (AHRS) based on Micro-Electro-Mechanical Systems (MEMS) sensors, composed of three-axis gyroscope, accelerometer and magnetometer, is developed for Marine Satellite Tracking Antenna (MSTA). In this paper, the attitude determination algorithm is improved using an adaptive mechanism that tunes the attitude estimator parameters based on an estimation of ship motion frequency. In order to get fast running cycle frequency of attitude estimator, Kalman filter is simplified to reduce calculation burden together with other improvemetns. An Immersion and Invariance (I\&I) frequency estimator is designed using Lyapunov theory to estimate the ship motion frequency. The estimated frequency is then used to adjust the gain matrix in Kalman filter. The designed algorithms are implemented in ARM processor and the attitude obtained is compared to a high-precision commercial Inertial Measurement Unit (IMU) to validate the performance of designed AHRS.",
keywords = "AHRS, Attitude estimation, Immersion and Invariance , Frequency estimator, Attitude determination, Navigation, Positioning , Gyroscope, Accelerometer, Kalman Estimators, Marine Robotic",
author = "Yunlong Wang and Hussain, {Dil Muhammed Akbar} and Mohsen Soltani",
year = "2015",
month = "8",
doi = "10.1016/j.ifacol.2015.10.268",
language = "English",
volume = "48",
pages = "121--126",
journal = "I F A C Workshop Series",
issn = "1474-6670",
publisher = "Elsevier",
number = "16",

}

A MEMS-based Adaptive AHRS for Marine Satellite Tracking Antenna. / Wang, Yunlong; Hussain, Dil Muhammed Akbar; Soltani, Mohsen.

I: IFAC-PapersOnLine, Bind 48, Nr. 16, 08.2015, s. 121-126.

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

TY - GEN

T1 - A MEMS-based Adaptive AHRS for Marine Satellite Tracking Antenna

AU - Wang, Yunlong

AU - Hussain, Dil Muhammed Akbar

AU - Soltani, Mohsen

PY - 2015/8

Y1 - 2015/8

N2 - Satellite tracking is a challenging task for marine applications. An attitude determination system should estimate the wave disturbances on the ship body accurately. To achieve this, an Attitude Heading Reference System (AHRS) based on Micro-Electro-Mechanical Systems (MEMS) sensors, composed of three-axis gyroscope, accelerometer and magnetometer, is developed for Marine Satellite Tracking Antenna (MSTA). In this paper, the attitude determination algorithm is improved using an adaptive mechanism that tunes the attitude estimator parameters based on an estimation of ship motion frequency. In order to get fast running cycle frequency of attitude estimator, Kalman filter is simplified to reduce calculation burden together with other improvemetns. An Immersion and Invariance (I\&I) frequency estimator is designed using Lyapunov theory to estimate the ship motion frequency. The estimated frequency is then used to adjust the gain matrix in Kalman filter. The designed algorithms are implemented in ARM processor and the attitude obtained is compared to a high-precision commercial Inertial Measurement Unit (IMU) to validate the performance of designed AHRS.

AB - Satellite tracking is a challenging task for marine applications. An attitude determination system should estimate the wave disturbances on the ship body accurately. To achieve this, an Attitude Heading Reference System (AHRS) based on Micro-Electro-Mechanical Systems (MEMS) sensors, composed of three-axis gyroscope, accelerometer and magnetometer, is developed for Marine Satellite Tracking Antenna (MSTA). In this paper, the attitude determination algorithm is improved using an adaptive mechanism that tunes the attitude estimator parameters based on an estimation of ship motion frequency. In order to get fast running cycle frequency of attitude estimator, Kalman filter is simplified to reduce calculation burden together with other improvemetns. An Immersion and Invariance (I\&I) frequency estimator is designed using Lyapunov theory to estimate the ship motion frequency. The estimated frequency is then used to adjust the gain matrix in Kalman filter. The designed algorithms are implemented in ARM processor and the attitude obtained is compared to a high-precision commercial Inertial Measurement Unit (IMU) to validate the performance of designed AHRS.

KW - AHRS

KW - Attitude estimation

KW - Immersion and Invariance

KW - Frequency estimator

KW - Attitude determination

KW - Navigation

KW - Positioning

KW - Gyroscope

KW - Accelerometer

KW - Kalman Estimators

KW - Marine Robotic

U2 - 10.1016/j.ifacol.2015.10.268

DO - 10.1016/j.ifacol.2015.10.268

M3 - Conference article in Journal

VL - 48

SP - 121

EP - 126

JO - I F A C Workshop Series

JF - I F A C Workshop Series

SN - 1474-6670

IS - 16

ER -