Design a mini-type marine attitude measurement system for self-propelled model trials

A mini-type and portable attitude measurement system used in self-propelled model trials is developed. After analyzing the motion at any point of the ship, the strap-down mode and multi-sensor technology are used in this design. Complete design, calibration and alignment procedure is described. For compensating the characteristics of sensors changing with working conditions, an algorithm based on the state space estimation and robust Kalman filtering is proposed and discussed. Compared with the traditional Kalman filtering in different conditions, its validity is testified. The results from real tests are given to show the feasibility of this design.