Low-cost attitude and heading reference system: Filter design and experimental evaluation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 2624-2629

  Batista, Pedro ^a   Silvestre, Carlos ^a   Oliveira, Paulo ^a   Cardeira, Bruno ^a  

^a INSTITUTO SUPERIOR TÉCNICO   (Portugal)

Author keywords

[No Author keywords available]

Indexed keywords

ATTITUDE AND HEADING REFERENCE SYSTEMS; AUTONOMOUS VEHICLES; COLORED NOISE; EULER ANGLES; EXPERIMENTAL EVALUATION; EXPLICIT REPRESENTATION; FILTER DESIGNS; GROUND TRUTH; HIGH-PRECISION CALIBRATION; INERTIAL MEASUREMENT UNIT; INHERENT STRUCTURES; LOW-COST IMU; PERFORMANCE EVALUATION; RATE GYRO; ROTATION MATRICES; SENSOR CHANNELS; SENSOR MEASUREMENTS; SINGLE SENSOR; TIME VARYING;

ALGORITHMS; DESIGN; FILTER BANKS; FREQUENCY ESTIMATION; GYROSCOPES; ROBOTICS; SENSORS; UNITS OF MEASUREMENT;

COST BENEFIT ANALYSIS;

EID: 77955799731     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509537     Document Type: Conference Paper

References (23)

1. J. Crassidis, F. Markley, and Y. Cheng, "Survey of Nonlinear Attitude Estimation Methods," Journal of Guidance, Control and Dynamics, vol. 30, no. 1, pp. 12-28, Jan.-Feb. 2007.
2. M. Shuster, "A Survey of Attitude Representations," Journal of the Astronautical Sciences, vol. 41, no. 4, pp. 439-517, Oct.-Dec. 1993.
3. J. Farrell, "Attitude Determination by Kalman Filter," Automatica, vol. 6, no. 5, pp. 419-430, 1970.
4. I. Bar-Itzhack and Y. Oshman, "Attitude Determination from Vector Observations: Quaternion Estimation," IEEE Transactions on Aerospace and Electronic Systems, vol. 321, no. 1, pp. 128-136, Jan. 1985.
5. A. Sabatini, "Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing," IEEE Transactions on Biomedical Engineering, vol. 53, no. 7, pp. 1346-1356, Jul. 2006.
6. J. Thienel and R. Sanner, "A Coupled Nonlinear Spacecraft Attitude Controller and Observer With an Unknown Constant Gyro Bias and Gyro Noise," IEEE Transactions on Automatic Control, vol. 48, no. 11, pp. 2011-2015, Nov. 2003.
7. H. Rehbinder and B. Ghosh, "Pose Estimation Using Line-Based Dynamic Vision and Inertial Sensors," IEEE Transactions on Automatic Control, vol. 48, no. 2, pp. 186-199, Feb. 2003.
8. R. Mahony, T. Hamel, and J.-M. Pflimlin, "Nonlinear Complementary Filters on the Special Orthogonal Group," IEEE Transactions on Automatic Control, vol. 53, no. 5, pp. 1203-1218, Jun. 2008.
9. J. Vasconcelos, R. Cunha, C. Silvestre, and P. Oliveira, "Landmark Based Nonlinear Observer for Rigid Body Attitude and Position Estimation," in Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, Dec. 2007, pp. 1033-1038.
10. D. Laila, M. Lovera, and A. Astolfi, "A numerical algorithm as an observer for spacecraft attitude determination," in Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, USA, Dec. 2006, pp. 1568-1573.
11. P. Martin and E. Salaun, "Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors," in Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, Dec. 2007, pp. 1039-1045.
12. D. Bernstein and S. Bhata, "A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon," Systems & Control Letters, vol. 39, no. 1, pp. 63-70, 2000.
13. G. Wahba, "A Least Squares Estimate of Spacecraft Attitude," SIAM Review, vol. 7, no. 3, p. 409, Jul. 1965.
14. M. Shuster and S. Oh, "Three-Axis Attitude Determination from Vector Observations," Journal of Guidance, Control and Dynamics, vol. 4, no. 1, pp. 70-77, Jan.-Feb. 1981.
15. F. Markley, "Optimal Attitude Matrix from Two Vector Measurements," Journal of Guidance, Control and Dynamics, vol. 31, no. 3, pp. 765-768, May-June 2008.
16. P. Batista, C. Silvestre, and P. Oliveira, "Sensor-based Complementary Globally Asymptotically Stable Filters for Attitude Estimation," in Proceedings of the 48th IEEE Conference on Decision and Control, Shanghai, China, Dec. 2009, pp. 7563-7568.
17. -, "Position and Velocity Navigation Filters for Marine Vehicles," in Proceedings of the 17th IFAC World Congress, Seoul, Korea, Jul. 2008, pp. 15 016-15 021.
18. R. Kalman and R. Bucy, "New Results in Linear Filtering and Prediction Theory," Transactions of the ASME - Journal of Basic Engineering, Series D, vol. 83, no. 3, pp. 95-108, Mar. 1961.
19. A. G. (Ed), Applied Optimal Filtering. The MIT Press, 1974.
20. F. Markley and D. Mortari, "How to Estimate Attitude from Vector Observations," Proceedings of the AAS/AIAA Astrodynamics Specialist Conference, vol. 103, no. 3, pp. 1979-1996, Aug. 1999.
21. M. Bryson and S. Sukkarieh, "Vehicle Model Aided Inertial Navigation for a UAV using Low-Cost Sensors," in Proceedings of the 2004 Australasian Conference on Robotics and Automation, Canberra, Australia, Dec. 2004.
22. Ideal Aerosmith, Inc., "2103HT Multi-Axis Table Data Sheet, Rev C," http://www.ideal-aerosmith.com/, 2006.
23. MEMSENSE, "NANO IMU Product Specification User's Guide, Document Number PSD-0822, Rev. A," "http://www.memsense.com", 2009.