Determination of USV's Direction Using Satellite and Fluxgate Compasses and GNSS-RTK

The measurement of a mobile object's movement direction is performed by means of various analogue and digital devices, including both autonomous and non-autonomous ones. They represent different measuring qualities, dimensions, weights and tolerance to ambient disturbances. They allow measuring the course of heading and course over ground (COG) in sea navigation. They are used for the determination of motion vectors on the water's surface and with respect to the sea bed, in integrated systems, DP and autopilots. Results of dynamic tests of three heading meters: electronic and satellite compasses, and Global Navigation Satellite Systems (GNSS) determining COG are presented in this paper. The measurements were conducted in good measuring conditions, in an open upper hemisphere for satellite receivers and at no or minimal disturbances of the magnetic field. Sensors were mounted on an unmanned survey vessel (USV) that was moving straight, performing quick turns and circulations. Each of them has some limitations with respect to its use in the water area in which a hydrographic sounding is to be performed; attention was paid to the possibility of using a given compass on board a small autonomous ship navigating automatically.