Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Improvement of Attitude Estimation Using Modified Euler Angle Based Kalman Filter

변형된 오일러각 기반의 칼만필터를 이용한 자세 추정 성능 향상

  • 강철우 (서울대학교 기계항공공학부) ;
  • 유영민 (서울대학교 기계항공공학부) ;
  • 박찬국 (서울대학교 기계항공공학부)
  • Published : 2008.09.01
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Abstract

To calculate the attitude in ARS(Attitude Reference System) using 3 gyros and 3 accelerometers, gyro drift must be compensated with accelerometer to avoid divergence of attitude error. Kalman filter is most popular method to integrate those two sensor outputs. In this paper, new Kalman filtering method is proposed for roll and pitch attitude estimation. New states are defined to make linear equation and algorithm for changing Kalman filter parameters is proposed to ignore disturbances of acceleration. This algorithm can be easily applied to low cost ARS.

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References

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