Drift-free attitude estimation for accelerated rigid bodies
2004 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 40, no 4, 653-659 p.Article in journal (Refereed) Published
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.
attitude estimation, nonlinear filtering, multisensor systems, mobile, robots, sensor fusion, systems, sensors
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-23256DOI: 10.1016/j.automatica.2003.01ISI: 000220166400012ScopusID: 2-s2.0-1242309931OAI: oai:DiVA.org:kth-23256DiVA: diva2:341954
QC 201110282010-08-102010-08-102016-05-30Bibliographically approved