외란 탐지 기능을 가지는 센서 융합 알고리즘을 이용하는 선박의 자세 추정

Abstract

In this paper the sensor fusion algorithm is presented for the attitude determination of a marine vessel which is governed by the rotational disturbance using rate gyros and accelerometers. The presented algorithm is capable of detecting the rotational disturbance which makes additional acceleration on accelerometers. The detection capability is achieved by employing the lever arm which is used to be an indicator for disturbances. The performance of the proposed scheme in the sense of estimation error is improved by removing the data of accelerometers from the fused data when the disturbances are detected. In order to demonstrate the proposed scheme, simulation tests are fulfilled for the 6 DOF motion of marine vessel with rotational perturbation.