Browse > Article
http://dx.doi.org/10.5139/JKSAS.2016.44.4.308

Vibration-Robust Adaptive Attitude Reference System Using Sequential Measurement Noise Covariance  

Kim, Jongmyeong (Dept. of Aerospace Engineering, Chosun University)
Leeghim, Henzeh (Dept. of Aerospace Engineering, Chosun University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.44, no.4, 2016 , pp. 308-315 More about this Journal
Abstract
A new technique for Attitude & Heading Reference System (AHRS) by using sequential measurement noise covariance (SMNC) is addressed in a vibration environments in this paper. In particular, a low-cost inertial measurement unit in general diverges in the acceleration phase or vibrating environments due to inherent properties of gravity and acceleration. In this paper, by considering current and prior measurements to estimate actual attitudes and headings in a local frame, the proposed technique overcomes these problems efficiently. Finally, the performance of the suggested approach is verified by numerical simulations.
Keywords
Extended Kalman Filter; Adaptive Filter; INS; Attitude Estimation; AHRS(Attitude & Heading Reference System);
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Pethel, Stephen J. "Test and evaluation of high performance micro electro-mechanical system based inertial measurement units." Position, Location, And Navigation Symposium, 2006 IEEE/ION. IEEE, 2006.
2 Groves, Paul D. Principles of GNSS, inertial, and multisensor integrated navigation systems. Artech house, 2013.
3 Lee, Eun-Sung, et al. "GPS Carrier Multipath Estimation While Attitude Determination." Journal of the Korean Society for Aeronautical & Space Sciences 33.3 (2005): 65-70.   DOI
4 Babu, Ravindra, and Jinling Wang, "Improving the quality of IMU-derived Doppler estimates for ultra-tight GPS/INS integration." GNSS2004, 2004, 16-19.
5 Cho, Am, et al. "Quaternion-based AHRS improved by inertial sensor bias compensation", KSAS Fall Conference, 2012, 2066-2070.
6 Yu, Hae-Sung, et al. "Performance improvement of SDINS attitude error estimation using GPS for bank-to-turn flight vehicle." Journal of the Korean Society for Aeronautical & Space Sciences 39.2 (2011): 128-136.   DOI
7 Lai, Ying-Chih, Shau-Shiun Jan, and Fei-Bin Hsiao. "Development of a low-cost attitude and heading reference system using a three-axis rotating platform." Sensors 10.4 (2010): 2472-2491.   DOI
8 Roetenberg, Daniel, et al. "Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation." Neural Systems and Rehabilitation Engineering, IEEE Transactions on 13.3 (2005): 395-405.   DOI
9 Sabatini, Angelo M. "Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing." Biomedical Engineering, IEEE Transactions on 53.7 (2006): 1346-1356.   DOI
10 Foxlin, Eric. "Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter." Virtual Reality Annual International Symposium, 1996., Proceedings of the IEEE 1996. IEEE, 1996.
11 Gebre-Egziabher, Demoz, Roger C. Hayward, and J. David Powell. "Design of multi-sensor attitude determination systems." Aerospace and Electronic Systems, IEEE Transactions on 40.2 (2004): 627-649..   DOI
12 Li, Wei, and Jinling Wang. "Effective adaptive Kalman filter for MEMS-IMU/magnetometers integrated attitude and heading reference systems." Journal of Navigation 66.01 (2013): 99-113.   DOI
13 Calusdian, James, Xiaoping Yun, and Eric Bachmann. "Adaptive-gain complementary filter of inertial and magnetic data for orientation estimation." Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE, 2011.
14 Crassidis, John L., and John L. Junkins. Optimal estimation of dynamic systems. CRC press, 2011.
15 Trawny, Nikolas, and Stergios I. Roumeliotis. "Indirect Kalman filter for 3D attitude estimation." University of Minnesota, Dept. of Comp. Sci. & Eng., Tech. Rep 2 (2005): 2005.
16 Yun, Xiaoping, et al. "An improved quaternion-based Kalman filter for real-time tracking of rigid body orientation." Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on. Vol. 2. IEEE, 2003.
17 Diebel, James. "Representing attitude: Euler angles, unit quaternions, and rotation vectors." Matrix 58.15-16 (2006): 1-35.