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USV attitude estimation: an approach using quaternion in direction cosine matrix

Published online by Cambridge University Press:  31 July 2014

Chiemela Onunka ,
Glen Bright  and
Riaan Stopforth
Chiemela Onunka*
Affiliation:
Discipline of Mechanical Engineering, University of KwaZulu-Natal, KwaZulu-Natal, South Africa
Glen Bright
Affiliation:
Discipline of Mechanical Engineering, University of KwaZulu-Natal, KwaZulu-Natal, South Africa
Riaan Stopforth
Affiliation:
Discipline of Mechanical Engineering, University of KwaZulu-Natal, KwaZulu-Natal, South Africa
*
*Corresponding author. Email: connadoz@gmail.com
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Summary

Positioning and navigation data for unmanned surface vehicles (USVs) are extracted using the Global Positioning System (GPS) and the Inertial Navigation System (INS) integrated with an inertial measurement unit (IMU). The integration of quaternion with direction cosine matrix (DCM) with the aim of obtaining high accuracy with complete system independence has been effectively used to supply position and attitude information for autonomous navigation of marine crafts. A DCM integrated with a quaternion provided an advanced technique for precise USV attitude estimation and position determination using low-cost sensors. This paper presents the implementation of an INS developed by the integration of DCM and quaternion.

Keywords

Inertial measurement unitInertial navigation systemQuaternionDirection cosine matrix
Type
Articles
Information
Robotica , Volume 34 , Issue 5: RAAD , May 2016 , pp. 995 - 1009
Copyright
Copyright © Cambridge University Press 2014 

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