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http://dx.doi.org/10.5302/J.ICROS.2008.14.9.881

Performance Improvement of Attitude Estimation Using Modified Euler Angle Based Kalman Filter  

Kang, Chul-Woo (서울대학교 기계항공공학부)
Yoo, Young-Min (서울대학교 기계항공공학부)
Park, Chan-Gook (서울대학교 기계항공공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.9, 2008 , pp. 881-885 More about this Journal
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.
Keywords
attitude reference system; ARS; attitude sensor; inertial sensor; gyro;
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Times Cited By SCOPUS : 11
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