摘要：Abstract: We conduct full-scale experimental validation and comparison of three different nonlinear attitude observers, two of them with inherent heave estimation, in two different operational scenarios encountered by an offshore vessel in the North Sea. Two different micro-electro-mechanical inertial measurement units are the primary sensors for driving the nonlinear observers, which are aided by gyrocompasses and position reference systems. The results are compared with data from well-proven industry standard vertical reference units.
关键词：KeywordsInertial navigationAttitude estimationNonlinear observersInertial Measurement UnitMarine systems
