An adaptive Multiplicative Extened Kalman Filter for Attitude Estimation of Marine Satellite Tracking Antenna

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review


Satellite tracking is a challenging task for marine applications due to the disturbance from ocean waves. An Attitude Heading and Reference System (AHRS) for measuring ship attitude, based on Microelectromechanical Systems (MEMS) sensors, is a key part for satellite tracking. In this paper, an adaptive Multiplicative Extended Kalman Filter (MEKF) for attitude estimation of Marine Satellite Tracking Antenna (MSTA) is presented with the measurement noise covariance matrix adjusted according to the norm of accelerometer measurements, which can significantly reduce the slamming influence from waves in high sea states. The attitude estimator algorithm is implemented in designed AHRS hardware, whose performance is validated through hardware experiment.
Original languageEnglish
Title of host publicationProceedings of OCEANS 2016 - Shanghai
Number of pages5
PublisherIEEE Press
Publication dateApr 2016
ISBN (Print)978-1-4673-9724-7
Publication statusPublished - Apr 2016
EventOCEANS 16: Marine Technology Society and the IEEE Oceanic Engineering Society - Monterey, CA, United States
Duration: 19 Sep 201623 Sep 2016


ConferenceOCEANS 16
CountryUnited States
CityMonterey, CA
Internet address


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