Projects per year
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.
Original language | English |
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Book series | IFAC-PapersOnLine |
Volume | 48 |
Issue number | 16 |
Pages (from-to) | 121-126 |
Number of pages | 4 |
ISSN | 1474-6670 |
DOIs | |
Publication status | Published - Aug 2015 |
Event | IFAC Conference on Manoeuvring and Control of Marine Craft - Copenhagen, Denmark Duration: 24 Aug 2015 → 26 Aug 2015 Conference number: 10th |
Conference
Conference | IFAC Conference on Manoeuvring and Control of Marine Craft |
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Number | 10th |
Country/Territory | Denmark |
City | Copenhagen |
Period | 24/08/2015 → 26/08/2015 |
Keywords
- AHRS
- Attitude estimation
- Immersion and Invariance
- Frequency estimator
- Attitude determination
- Navigation
- Positioning
- Gyroscope
- Accelerometer
- Kalman Estimators
- Marine Robotic
Fingerprint
Dive into the research topics of 'A MEMS-based Adaptive AHRS for Marine Satellite Tracking Antenna'. Together they form a unique fingerprint.Projects
- 1 Finished
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Star2Com: Stabilization and control of Satellite-tracking antennas for marine Communication (Star2 Com)
N. Soltani, M. (Project Manager), Pedersen, J. K. (Project Participant), Yang, Z. (Project Participant), Nielsen, P. (Project Participant) & Christensen, J. (Project Participant)
01/04/2014 → 31/10/2017
Project: Research
Press/Media
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Højteknologifonden støtter nyt dansk satellitprojekt
20/12/2013
1 item of Media coverage
Press/Media: Press / Media
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Projekt skal sikre bedre kommunikation til skibe
16/12/2013
3 items of Media coverage
Press/Media: Press / Media