Dynamik Positioning System - sensors

Hello,

I developed an autopilot for modelboats the last few years. Now I want to try to develope an "Dynamik Positioning System" (http://en.wikipedia.org/wiki/Dynamic_positioning)(DPS). Therefore I need the ship movements to steer against them. I want to get them by an Acc,Gyro, Mag compination. I want to calculate the attitude of the ship, and then I want to correct the acc data, to get the right movements over ground.

But I don't know whether I can use the acc data, to get the right ship movements.

All the calculation will be done on a Stm32F4 with 168Mhz and FPU and we want to do the sensor fusion wie 8kHz.

Does anybody has got ideas?

Greetings

Philipp

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