Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Drift-free attitude estimation for accelerated rigid bodies
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2004 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 40, no 4, 653-659 p.Article in journal (Refereed) Published
Abstract [en]

In this paper we study the attitude estimation problem for an accelerated rigid body using gyros and accelerometers. The application in mind is that of a walking robot and particular attention is paid to the large and abrupt changes in accelerations that can be expected in such an environment. We propose a state estimation algorithm that fuses data from rate gyros and accelerometers to give long-term drift free attitude estimates. The algorithm does not use any local parameterization of the rigid body kinematics and can thus be used for a rigid body performing any kind of rotations. The algorithm is a combination of two non-standard, but in a sense linear, Kalman filters between which a trigger based switching takes place. The kinematics representation used makes it possible to construct a linear algorithm that can be shown to give convergent estimates for this nonlinear problem. The state estimator is evaluated in simulations demonstrating how the estimates are long-term stable even in the presence of gyro drift.

Place, publisher, year, edition, pages
2004. Vol. 40, no 4, 653-659 p.
Keyword [en]
attitude estimation, nonlinear filtering, multisensor systems, mobile, robots, sensor fusion, systems, sensors
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-23256DOI: 10.1016/j.automatica.2003.11.002ISI: 000220166400012Scopus ID: 2-s2.0-1242309931OAI: oai:DiVA.org:kth-23256DiVA: diva2:341954
Note

QC 20111028

Available from: 2010-08-10 Created: 2010-08-10 Last updated: 2017-06-08Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Authority records BETA

Hu, Xiaoming

Search in DiVA

By author/editor
Hu, Xiaoming
By organisation
Optimization and Systems Theory
In the same journal
Automatica
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 85 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf