Study on ship attitude estimate algorithm based on MEMS IMU

Accurate and timely feedback of the attitude of the ship and its multi degree of freedom engineering equipment is the key to ensure the safety of the ship system. In this paper, attitude measurement method based on a low-cost MEMS (Micro Electro Mechanical System) IMU (Inertial Measurement Unit) is studied. The acceleration and angular velocity of MEMS are fused by Mahony complementary filter and EKF (Extended Kalman Filter) respectively to obtain the accurate attitude estimation of IMU. An experimental platform is used to simulate the ocean disturbance, the performance of the two methods under different disturbance are discussed, and the influence of different filter parameters on the output is analyzed. The results show that both Mahony complementary filter and EKF filter have good tracking ability, and can track the motion trajectory of different frequencies through reasonable adjustment of parameters.