DocumentCode :
2764874
Title :
Attitude and Heading System based on EKF total state configuration
Author :
Munguia, Rodrigo ; Grau, Antoni
Author_Institution :
Dept. of Autom. Control, UPC, Barcelona, Spain
fYear :
2011
fDate :
27-30 June 2011
Firstpage :
2147
Lastpage :
2152
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.
Keywords :
Kalman filters; accelerometers; aircraft control; attitude control; gyroscopes; inertial navigation; magnetometers; 3-axis accelerometer; 3-axis gyroscope; 3-axis magnetometer; EKF total state configuration; attitude determination system; attitude system; extended Kalman filters; heading system; inertial measurement unit; low cost sensors; vehicle control; vehicle guidance; vehicle navigation; Accelerometers; Estimation; Gravity; Kalman filters; Magnetometers; Quaternions; Sensors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics (ISIE), 2011 IEEE International Symposium on
Conference_Location :
Gdansk
ISSN :
Pending
Print_ISBN :
978-1-4244-9310-4
Electronic_ISBN :
Pending
Type :
conf
DOI :
10.1109/ISIE.2011.5984493
Filename :
5984493
Link To Document :
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