外乱に対して頑強で大域的漸近安定なジャイロバイアス誤差の推定・除去による三次元姿勢推定

概要

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This paper presents a new methodology of attitude estimation for cost-effective and small-size inertial measurement units, consisting of tri-axial gyroscope sensors, accelerometers and geo-magnetometers. Introduced for the algorithm development is a quaternion feedback structure, where bias terms in the gyroscope rate information, appearing in the phase-locked loop, are identified with the theoretical guarantee of the global and asymptotical stability. The bias-term identification and modification process is performed continuously without the influence of the disturbance by applying the proposed disturbance detection scheme and a conventional vector matching method. Practical validity of the presented framework is fully evaluated by experiments. The evaluation result shows that the approach in this paper can offer superior drift-free performance with property of disturbance rejection under arbitrary high-frequency test motion of spatial rotation and translation.