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Methods comparison for attitude determination of a lightweight buoy by raw data of IMU
University of Gävle, Faculty of Engineering and Sustainable Development, Department of Industrial Development, IT and Land Management, Land management, GIS.
School of Engineering Science, College of Engineering, University of Tehran, Iran.
School of Surveying and Geomatics Engineering, University of Tehran, Iran.
School of Surveying and Geomatics Engineering, University of Tehran, Iran.
2019 (English)In: Measurement, ISSN 0263-2241, E-ISSN 1873-412X, Vol. 135, p. 348-354Article in journal (Refereed) Published
Abstract [en]

Today, one of the most important issues is the determination of instantaneous sea level and distinguishing the Tsunami by floating buoy in the ocean. Usually, gyroscopes are used to measure the angular velocity of a buoy. On the other hand, considering the advancement of various technologies in the field of precise accelerometers, make it possible to use these kinds of sensors for navigation purpose. In this research, stable and optimal methods for determining the orientation of a moving buoy is presented using a combination of the gyroscope, accelerometers, and magnetic sensors data. In order to prove the effectiveness of the proposed methods, the raw data were collected from accelerometers, gyroscopes, and magnetometers of (Xsens MTI-G-700) mounted on a Buoy in coastal waters of Kish Island, Iran. Then, by using the proposed methods, the Euler angles of the buoy are determined, while the Euler angles are derived from the Xsens sensor we are considered as a reference. Based on the results, RMSD for Madgwick algorithm are 0.57° 0.37° and 0.50° for Mahony algorithm are 0.56° 0.37° and 0.50° and finally for Complementary algorithm is 0.63° 0.26° and 2.38° which these values are for roll, pitch, and yaw angles respectively. Thus Mahony algorithm for determining roll and yaw Euler angles is more accurate than other algorithms; however, this differences is negligible compared to the Madgwick algorithm. The Complementary algorithm is less accurate than the other two algorithms, especially for determining the yaw angle of the buoy.

Place, publisher, year, edition, pages
Elsevier, 2019. Vol. 135, p. 348-354
Keywords [en]
Eulerian angles, Inertial measurement unite, Integration, Moving platform, Accelerometers, Gyroscopes, Sea level, Attitude determination, Coastal waters, Floating buoy, Inertial measurements, Optimal methods, Various technologies, Buoys
National Category
Other Civil Engineering
Identifiers
URN: urn:nbn:se:hig:diva-28793DOI: 10.1016/j.measurement.2018.11.061Scopus ID: 2-s2.0-85057375342OAI: oai:DiVA.org:hig-28793DiVA, id: diva2:1269489
Available from: 2018-12-10 Created: 2018-12-10 Last updated: 2019-08-20Bibliographically approved

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