Attitude Estimation Adaptively Compensating External Acceleration

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概要

• 論文の詳細を見る

• This paper is concerned with attitude estimation using low cost, small-sized accelerometers and gyroscopes. A two step extended Kalman filter is proposed, which adaptively compensates external acceleration. External acceleration is the main source of estimation error. In the proposed filter, direction of external acceleration is estimated. According to the estimated direction, the accelerometer measurement covariance matrix of the two step extended Kalman filter is adjusted. The proposed algorithm is verified through experiments.

• 一般社団法人日本機械学会の論文
• 2006-03-15

著者

• Park Sang-kyeong

  Department Of Electrical Engineering University Of Ulsan

• Ro Young-shick

  Department Of Electrical Engineering University Of Ulsan

• SUH Young-Soo

  Department of Electrical Engineering, University of Ulsan

• KANG Hee-Jun

  Department of Electrical Engineering, University of Ulsan

• Kang Hee-jun

  Department Of Electrical Engineering University Of Ulsan

• Suh Young-soo

  Department Of Electrical Engineering University Of Ulsan

関連論文

• Attitude Estimation Adaptively Compensating External Acceleration

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