A306 小型軽量汎用性を特徴とする姿勢センサの開発(OS3 自律知能無人ビークルの運動と制御4)

概要

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In order to estimate attitude by using a quaternion based on extended Kalman filter (EKF), the attitude sensor detects a direction of the gravity by using a tri-axis accelerometer. However, accelerometers are usually sensitive to both the gravity and dynamic accelerations. The attitude sensor mounted on unmanned systems takes attitude estimation errors by using directly outputs of accelerometer under dynamic acceleration environment. In this paper, the dynamic accelerations are dealt with explicitly, and two types of algorithms are proposed. In the first approach, measured accelerations are filtered, and divided into the gravity and dynamic accelerations. Using only the gravity, EKF estimates high accuracy of attitude. The second approach demonstrates adequate performance with EKF which includes the dynamical model of accelerations. This paper shows a critical comparison of attitude estimation algorithms under the dynamic acceleration environment for the autonomous control of unmanned systems.
一般社団法人日本機械学会の論文
2011-06-28