ABSTRACT
In this research, the basic researches were carried out for the stated goal that is developing a small and low cost autonomous system which is affordable for small vessels.
1.2 The integrated compass system
MEMS-ESG is able to detect relative angles which discussed in this paper. For the compass system, absolute angles are necessary. Therefore integrated system was being looked at. The considering system is using INS with MEMS-ESG and sun direction and altitude detecting system using camera image. The system diagram is shown in Figure 1.
