The design of attitude reference system for underwater vehicle using extended kalman filter

확장칼만필터를 이용한 수중 운동체의 자세계산 시스템 설계

This paper presents the algorithm for estimating the attitude of an underwater vehicle using EFK. The system model is designed by linerizing the nonlinear Euler angle differential equation and the measurements is a speed logger output. The simulation result shows that the estimation lagorithm is adequate for decreasing attitude errors that grow abruptly during the motion with acceleration and rotation. It also shows that we can adapt the algorithm for compensating initial attitude errors generated after initial leveling.