Title :
Attitude Estimation of MAV Based on Fusion Algorithm
Author :
Xu, Min ; Wu, Yanxuan ; Wang, Zhengjie ; Li, Cheng ; Fan, Ningjun
Author_Institution :
Sch. of Mechatronical Eng., Beijing Inst. of Technol. (BIT), Beijing, China
Abstract :
A fusion algorithm for attitude estimation of MAV(Micro Aerial Vehicle) is presented. The algorithm use quaternion to represent rotation. Attitude quaternion errors and drift bias of gyros are selected to construct a Kalman filter state vector. The output of GPS is used to correct the accelerometer readings. The local earth magnetic and gravity are used to compute observation of Kalman filter by Levenberg-Marquardt algorithm. The algorithm can converge quickly to rotation attitude of small flight vehicle.
Keywords :
Kalman filters; accelerometers; aerospace robotics; attitude control; gyroscopes; microrobots; mobile robots; remotely operated vehicles; sensor fusion; Kalman filter state vector; Levenberg-Marquardt algorithm; MAV attitude estimation; accelerometer reading; attitude quaternion error; flight vehicle rotation attitude; fusion algorithm; gyro drift bias; microaerial vehicle; Estimation; Kalman filters; Magnetic field measurement; Magnetic separation; Magnetometers; Quaternions; Sensors; Kalman filter; Levenberg-Marquardt algorithm; attitude estimation; fusion algorithm;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2011 International Conference on
Conference_Location :
Zhejiang
Print_ISBN :
978-1-4577-0676-9
DOI :
10.1109/IHMSC.2011.79
