Drift-free attitude estimation using quasi-linear observers
2005 (English)In: NEW DIRECTIONS AND APPLICATIONS IN CONTROL THEORY / [ed] Dayawansa, WP; Lindquist, A; Zhou, Y, 2005, Vol. 321, 321-336 p.Conference paper (Refereed)
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 gyrodrift.
Place, publisher, year, edition, pages
2005. Vol. 321, 321-336 p.
, Lecture Notes in Control and Information Sciences, ISSN 0170-8643 ; 321
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-42748ISI: 000233074300020ScopusID: 2-s2.0-33947525444ISBN: 3-540-23953-7OAI: oai:DiVA.org:kth-42748DiVA: diva2:447911
Conference in Honor of Clyde Martins 60th Birthday on New Directions and Applications in Control Theory Location: Lubbock, TX Date: NOV 14-15, 2003
QC 201110132011-10-132011-10-122011-10-13Bibliographically approved