Implementation and comparison of attitude estimation methods for agricultural robotics

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 4, Issue PART 1, 2013, Pages 52-57

  Utstumo, Trygve ^a,b   Gravdahl, Jan Tommy ^a  

^a NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

^b Adigo AS   (Norway)

Author keywords

Instrumentation and sensing; Precision agriculture; Robotics and mechatronics for agricultural automation

Indexed keywords

KALMAN FILTERS; PRECISION AGRICULTURE; ROBOTICS; SOFTWARE TESTING; VERIFICATION;

AGRICULTURAL ROBOTICS; ATTITUDE ESTIMATION; COMPUTATIONAL BURDEN; IMPLEMENTATION COMPLEXITY; INSTRUMENTATION AND SENSING; MULTIPLICATIVE EXTENDED KALMAN FILTERS; NON-LINEAR OBSERVER; ROBOTICS AND MECHATRONICS;

AGRICULTURAL ROBOTS;

EID: 84885670574     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20130828-2-SF-3019.00051     Document Type: Conference Paper

References (17)

1. Crassidis, J., Markley, F., and Cheng, Y. (2007). Survey of nonlinear attitude estimation methods. Journal of Guidance Control and Dynamics, 30(1), 12.
2. Egeland, O. and Gravdahl, J. (2002). Modeling and Simulation for Automatic Control.
3. Grip, H., Fossen, T., Johansen, T., and Saberi, A. (2011). Attitude estimation based on time-varying reference vectors with biased gyro and vector measurements.
4. Hamel, T. and Mahony, R. (2006). Attitude estimation on based on direct inertial measurements. In Robotics and Automation, 2006 ICRA 2006 Proc. 2006 IEEE Int. Conference, 2170-2175. IEEE.
5. Hua, M. (2010). Attitude estimation for accelerated vehicles using gps/ins measurements. Control Engineering Practice, 18(7), 723-732.
6. Lefierts, E., Markley, F., and Shuster, M. (1982). Kalman filtering for spacecraft attitude estimation. Journal of Guidance, Control, and Dynamics, 5(5), 417-429.
7. Mahony, R., Hamel, T., and Pimlin, J. (2008). Nonlinear complementary filters on the special orthogonal group. Automatic Control, IEEE Transactions on, 53(5), 1203-1218.
8. Markley, F. et al. (2003). Attitude error representations for Kalman filtering. J. of Guidance Control and Dynamics, 26(2), 311-317.
9. Martin, P. and Salaun, E. (2010). Design and implementation of a low-cost observer-based attitude and heading reference system. Control Engineering Practice, 18(7), 712-722.
10. Shuster, M. (1990). Kalman filtering of spacecraft attitude and the QUEST model. J. of the Astronautical Sciences, 38, 377-393.
11. Shuster, M. (1993). The Quaternion in Kalman Filtering. Advances in the Astronautical Sciences, 85, 25-37.
12. Shuster, M. (2006). The quest for better attitudes. Journal of the Astronautical Sciences, 54(3/4), 657.
13. Shuster, M. (2009). Filter QUEST or request. Journal of Guidance, Control, and Dynamics, 32, 643-645.
14. Shuster, M. and Oh, S. (1981). Three-axis attitude determination from vector observations. J. of Guidance and C., 4(1), 70-77.
15. Slaughter, D., Giles, D., and Downey, D. (2008). Autonomous robotic weed control systems: A review. Computers and Electronics in Agriculture, 61(1), 63-78.
16. Takahashi, S.N., de Souza, A., and Tosin, M. (2009). Execution time of QUEST algorithm in embedded processors. In Symposium on Aerospace Eng. and Applications.
17. Utstumo, T. (2011). Attitude Estimation in Agricultural Robotics. Master's thesis, Department of Engineering Cybernetics, Norwegian University of Science and Technology.