NDLI: A Complementary Filter for High-fidelity Attitude Estimation based on Decoupled Linear/Nonlinear Properties of Inertial Sensors

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A Complementary Filter for High-fidelity Attitude Estimation based on Decoupled Linear/Nonlinear Properties of Inertial Sensors

Content Provider	Semantic Scholar
Author	Sugihara, Tomomichi Masuya, Ken Yamamoto, Motoji
Copyright Year	2013
Abstract	脚ロボットや飛翔ロボット,海洋ロボットなどの,広い空間を不規則に運動する移動ロボットを制御する上で,ロボットの姿勢を高精度に計測する技術は重要である.身体上に計測基準点を持たない移動ロボットの姿勢は,傾斜計や加速度センサ,角速度センサなどのいわゆる慣性センサを用いて推定する必要がある.これらのうち,傾斜計,加速度センサは,準静的な状態で重力方向を検出することが可能だが,動的な状態ではセンサ自身のダイナミクスによる遅れや並進加速度の影響が無視できなくなる.角速度センサは,動的な姿勢変化から比較的良好な精度で角速度を計測できるものだが,そこから姿勢を得るには出力値の積分が要求され,わずかな誤差が累積し推定値の発散を招く.このように,それぞれのセンサには一長一短があり,いずれか一種類のセンサのみで姿勢を推定するのは難しい.単体で高精度な姿勢計測が行えるとして航空機やロケットで用いられる,光ファイバジャイロ,リングレーザージャイロは,高価かつ破損しやすく,今のところ広く利用できるものではない.
Starting Page	251
Ending Page	262
Page Count	12
File Format	PDF HTM / HTML
DOI	10.7210/jrsj.31.251
Volume Number	31
Alternate Webpage(s)	https://www.mi.ams.eng.osaka-u.ac.jp/member/sugihara/pub/jrsj2013sugihara.pdf
Alternate Webpage(s)	https://doi.org/10.7210/jrsj.31.251
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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