NDLI: Attitude and Heading System based on EKF total state configuration

Content Provider	IEEE Xplore Digital Library
Author	Munguia, R. Grau, A.
Copyright Year	2011
Description	Author affiliation: Department of Automatic Control, UPC, c/ Pau Gargallo, 5 E-08028 Barcelona Spain (Munguia, R.; Grau, A.)
Abstract	This paper describes the design, analysis, and experimental results of an Attitude and Heading System based on total state (direct) Extended Kalman Filtering technique. The presented scheme is suitable for implementation using low cost sensors. Attitude determination systems are essential for real time vehicle navigation, guidance and control applications. When low cost sensors are used, efficient and robust algorithms become necessary for an acceptable performance. For the proposed approach, a low cost Inertial Measurement Unit (IMU), formed by 3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer, provides the input measurements. A Kalman Filter, in direct configuration, estimates the state of the system, which is formed by a quaternion, representing the body 3D orientation, and the biases of gyros. Experimental results with real data show that the proposed algorithm is able to maintain an accurate and drift-free attitude and heading estimation.
Starting Page	2147
Ending Page	2152
File Size	671966
Page Count	6
File Format	PDF
ISBN	9781424493104
e-ISBN	9781424493128
e-ISBN	9781424493111
DOI	10.1109/ISIE.2011.5984493
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-27
Publisher Place	Poland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Estimation Accelerometers Sensors Quaternions Magnetometers Gravity Kalman filters
Content Type	Text
Resource Type	Article

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