Szczegóły

Tytuł artykułu

Quaternion-based filtering for gyroless attitude estimation without an attitude dynamics model

Tytuł czasopisma

Metrology and Measurement Systems

Wolumin

vol. 25

Numer

No 3

Autorzy publikacji

Słowa kluczowe

quaternion-based filtering ; gyroless attitude estimation ; angular velocity determination ; Kalmanfilter

Wydział PAN

Nauki Techniczne

Zakres

631-643

Abstrakt

Conventionally, the filtering technique for attitude estimation is performed using gyros or attitude dynamics

models. In order to extend the application range of an attitude filter, this paper proposes a quaternionbased

filtering framework for gyroless attitude estimation without an attitude dynamics model. The attitude

estimation system is established based on a quaternion kinematic equation and vector observation models.

The angular velocity in the system is determined through observation vectors from attitude sensors and the

statistical properties of the angular velocity error are analysed. A Kalman filter is applied to estimate the

attitude error such that the effect from the angular velocity error is compensated with its statistical properties

at each sampling moment. A numerical simulation example is presented to illustrate the performance of the

proposed algorithm.

Wydawca

Polish Academy of Sciences Committee on Metrology and Scientific Instrumentation

Data

2018.10.01

Typ

Artykuły / Articles

Identyfikator

ISSN 0860-8229

DOI

10.24425/123903

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