NDLI: Constrained Filtering Method for MAV Attitude Determination

Content Provider	IEEE Xplore Digital Library
Author	Lidai Wang Shenshu Xiong Zhaoying Zhou Qiang Wei Jinhui Lan
Copyright Year	2004
Description	Author affiliation: Deptartment of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing (Lidai Wang; Shenshu Xiong; Zhaoying Zhou; Qiang Wei)
Abstract	In this paper we introduce a novel attitude measurement algorithm that gives the Euler angles based on MEMS sensors including three rate gyros, three magnetometers and one accelerometer. Six elements of the direction cosine matrix are selected to compose a state vector. Only four elements are independent, because there exists two nonlinear constraints. They are introduced as virtual measurements in the Kalman filter. The filter can be improved by introducing heading differential speed signal. Bias of simulation results indicates that the Euler angles can be determined with standard deviations at 1-3 degree even during high dynamic maneuvers and long turns. Flight tests have been carried out in a miniature UAV, the Euler angles' in which the method is proved to be valid in high dynamic maneuver
Starting Page	1480
Ending Page	1483
File Size	141081
Page Count	4
File Format	PDF
ISBN	0780388798
DOI	10.1109/IMTC.2005.1604397
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-05-16
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Filtering Position measurement Magnetic separation Micromechanical devices Magnetic sensors Magnetometers Accelerometers Filters Testing Unmanned aerial vehicles MAV Kalman filter Constrained filter Attitude determination MEMS
Content Type	Text
Resource Type	Article

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