NDLI: Dual estimation of attitude and parameters considering vibration based on GPS and IMU

Content Provider	IEEE Xplore Digital Library
Author	Xin Qi Shi ZhongKe Zhu HongYu
Copyright Year	2013
Description	Author affiliation: Norinco Group, North Gen. Electron. Group Co., Ltd., Xi'an, China (Zhu HongYu) \|\| Sch. of Autom., Northwestern Polytech. Univ., Xi'an, China (Xin Qi; Shi ZhongKe)
Abstract	Attitude determination is strongly coupled with the estimation of unknown vibration parameters when the output of the inertial measurement unit (IMU) is corrupted by the vibration induced by the piston engine. The unknown vibration parameters in the attitude dynamics can degrade attitude accuracy of dead reckoning. In this paper, a dual estimation of attitude and parameters considering vibration is investigated for small UAV. The dynamic model contained attitude and parameters is established by state augmentation, and the observations are chosen as GPS velocity and heading. In order to employ hybrid extended kalman filter for dual estimation, Jacobian matrixes are formulated by linearizing the estimation model to propagate and update error variance. Since joint state estimation has tremendous computational loads, based on matrix blocking a state and parameter separated estimation is proposed to decouple the estimation of attitude and parameters. Simulation results show that the proposed method can give high precision attitude than the common filter without considering vibration.
Starting Page	1
Ending Page	6
File Size	755921
Page Count	6
File Format	PDF
ISBN	9781467357678
e-ISBN	9781467357692
DOI	10.1109/ASCC.2013.6606058
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-23
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Accelerometers attitude determination flight mechanics inertial measurement unit (IMU) Dead reckoning dual estimation Estimation Position measurement Acceleration vibration parameters Global Positioning System
Content Type	Text
Resource Type	Article

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