ABSTRACT
The system includes an Inertial Measurement Unit (IMU) with 3-axis accelerometers and gyroscopes, and a 3-axis magnetometer. This IMU is the core of an autopilot that is in charge of controlling the speed and course as well as maintaining the ship model well centered in the tank. A description of the whole system has been presented elsewhere (López Peña et al., 2013a) and the general arrangement of its first implementation can be seen in Figure 1.
