A modified Attitude Determination Algorithm using low-cost sensors

Fei Liu*, Haifu Wang, Chang Liu, Kewei Huang

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

According to the specific application of the Micro Air Vehicle (MAV), a modified Attitude Determination Algorithm is proposed. The presented system consists of a three-axis magnetometer, a three-axis accelerometer and a single-antenna Global Position Systems (GPS) receiver. Firstly, the earth's magnetic and specific force in the body and navigation frame is employed to establish the attitude quaternion. Subsequently, in order to improve performance, a standard linear measurement equation and a state equation about quaternion error is developed for Extend Kalman Filter (EKF). Finally, the proposed algorithm is verified by simulation using data collected from the low-cost sensors. The performance of the suggested algorithm is shown to have significantly restrained the estimation errors.

源语言英语
主期刊名Proceedings of 2012 International Conference on Modelling, Identification and Control, ICMIC 2012
752-756
页数5
出版状态已出版 - 2012
活动2012 International Conference on Modelling, Identification and Control, ICMIC 2012 - Wuhan, 中国
期限: 24 6月 201226 6月 2012

出版系列

姓名Proceedings of 2012 International Conference on Modelling, Identification and Control, ICMIC 2012

会议

会议2012 International Conference on Modelling, Identification and Control, ICMIC 2012
国家/地区中国
Wuhan
时期24/06/1226/06/12

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