Title :
Automated tuning of the nonlinear complementary filter for an Attitude Heading Reference observer
Author :
De Silva, Oscar ; Mann, George K. I. ; Gosine, Raymond G.
Author_Institution :
Fac. of Eng. & Appl. Sci., Memorial Univ. of Newfoundland, St. John´s, NL, Canada
Abstract :
In this paper we detail a numerical optimization method for automated tuning of a nonlinear filter used in Attitude Heading Reference Systems (AHRS). First, the Levenberg Marquardt method is used for nonlinear parameter estimation of the observer model. Two approaches are described; Extended Kalman Filter (EKF) based supervised implementation and unsupervised error minimization based implementation. The quaternion formulation is used in the development in order to have a global minimum parametrization in the rotation group. These two methods are then compared using both simulated and experimental data taken from a commercial Inertial Measurement Unit (IMU) used in an autopilot system of an unmanned aerial vehicle. The results reveal that the proposed EKF based supervised implementation is faster and also has a better robustness against different initial conditions.
Keywords :
Kalman filters; attitude measurement; autonomous aerial vehicles; curve fitting; learning (artificial intelligence); nonlinear estimation; nonlinear filters; observers; optimisation; parameter estimation; AHRS; IMU; Levenberg Marquardt method; attitude heading reference observer; automated nonlinear complementary filter tuning; autopilot system; error minimization based implementation; extended Kalman filter based supervised implementation; global minimum parametrization; inertial measurement unit; nonlinear parameter estimation; numerical optimization method; quaternion formulation; unmanned aerial vehicle; Convergence; Kalman filters; Mathematical model; Noise measurement; Observers; Tuning;
Conference_Titel :
Robot Vision (WORV), 2013 IEEE Workshop on
Conference_Location :
Clearwater Beach, FL
Print_ISBN :
978-1-4673-5646-6
Electronic_ISBN :
978-1-4673-5647-3
DOI :
10.1109/WORV.2013.6521934