A Research on Roll Angle Calculations Based on IMU/GPS Compass for Ships

Linkun Deng, Hang Guo, Nikolas Xiros, Min Yu

Abstract:	The roll angle for a sailing ship is of great importance on its stability and safety. To overcome a typical IMU error increasing over time, several different methods for roll angle calculations are analyzed and compared in detail, which include the method ignoring sensor errors, IMU Quaternion method, magnetometer orientation, and IMU/GPS compass integrated system with EKF in ship sailing. Finally, the paper pays attention to GPS compass adjusting IMU errors real time, and a typical experiment is designed to evaluate the performance of IMU/GPS compass integrated system for ship roll angle measurement. The roll angle value collected by GPS compass is fed as measured value to the EKF for estimating the angular velocity error, and then the attitude value, such as the roll angle, is compensated. The experimental result shows that GPS compass decreased IMU errors, and angle calculation accuracy is 2.1278 degrees in STD.
Published in:	Proceedings of IEEE/ION PLANS 2016 April 11 - 14, 2016 Hyatt Regency Hotel Savannah, GA
Pages:	976 - 980
Cite this article:	Deng, Linkun, Guo, Hang, Xiros, Nikolas, Yu, Min, "A Research on Roll Angle Calculations Based on IMU/GPS Compass for Ships," Proceedings of IEEE/ION PLANS 2016, Savannah, GA, April 2016, pp. 976-980. https://doi.org/10.1109/PLANS.2016.7479797
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