Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/17501
Title: Vessel attitude system for multibeam echosounding
Authors: Sun, YR
Liu, JY
Chen, W 
Hu, CW
Keywords: Attitude control system
Combined navigation
Multibeam survey
Issue Date: 2003
Publisher: 南京航空航天大學學報編輯部
Source: 南京航空航天大學學報 (Journal of Nanjing University of Aeronautics & Astronautics), 2003, v. 35, no. 4, p. 356-360 How to cite?
Journal: 南京航空航天大學學報 (Journal of Nanjing University of Aeronautics & Astronautics) 
Abstract: Multibeam echosounding is used to measure the depth and the shape of sea-bed or river-bed. But in real situations, vessel attitude is changed due to wind, water current and other factors, which results in the measurement errors of depth and shape. Therefore, the attitude compensation is needed to achieve the true depth and shape. This paper presents an all-state integrated GPS/SINS navigation system developed by use of multibeam echosounding. Many issues related to the system, such as GPS attitude determination, error models, navigation algorithms, and the engineering realization based on MEMS IMU, are stressed. Experimental results show that GPS/SINS all state integrated navigation system can provide accurate attitude (roll, pitch and yaw), position, and velocity to meet the requirements of multibeam echosounding vessel attitude compensation.
URI: http://hdl.handle.net/10397/17501
ISSN: 1005-2615
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