Vessel attitude system for multibeam echosounding

Yong Rong Sun, Jian Ye Liu, Wu Chen, Cong Wei Hu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

2 Citations (Scopus)


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.
Original languageChinese (Simplified)
Pages (from-to)356-360
Number of pages5
JournalNanjing Hangkong Hangtian Daxue Xuebao/Journal of Nanjing University of Aeronautics and Astronautics
Issue number4
Publication statusPublished - 1 Aug 2003


  • Attitude control system
  • Combined navigation
  • Multibeam survey

ASJC Scopus subject areas

  • Aerospace Engineering

Cite this