2024 Volume 80 Issue 18 Article ID: 24-18157
In this study, a portable ship motion measurement system with a sample period of 100 Hz was developed using a small IMU (inertial sensor). The accuracy and practicality of the system were also investigated. The amount of rotational motion was calculated in the object coordinate system as Euler angles (Yawing, Pitching, Rolling) using an extended Kalman filter with the rotational angular velocity as the input signal and the rotation angle calculated from the acceleration and geomagnetic field as the observed value. The amount of translational motion was calculated as displacement in the absolute coordinate system using GPS and acceleration data converted to the absolute coordinate system by taking Yawing into account. Ground experiments were conducted to verify the accuracy of the measurement of the amount of rotational motion, and the true and measured RMSEs of Yawing, Pitching, and Rolling were 13.26°, 0.09°, and 0.05°, respectively. Sea trials were also conducted using a small ship to measure the amount of ship motion during the voyage and confirm the applicability of the system.
