TY - GEN
T1 - Study on extended Kalman filtering for attitude estimation of micro flight vehicle
AU - Xu, Min
AU - Fan, Ningjun
AU - Wang, Zhengjie
PY - 2011
Y1 - 2011
N2 - In this paper an extended Kalman filter for real-time estimation of micro flight vehicle body attitude by using MEMS gyros, accelerometers, and magnetometers is presented. The algorithm uses quaternions to represent rotation, which can avoid the singularity problem caused by using Euler angles. Attitude quaternion errors and drift bias of gyros were selected to construct a state vector. The state equation is established on the base of attitude quaternion error differential equation. The measurements of Kalman filter were obtained through iteration using acceleration and magnetic field vector. The algorithm can significantly reduce calculated amount and can converge quickly to rotation attitude.
AB - In this paper an extended Kalman filter for real-time estimation of micro flight vehicle body attitude by using MEMS gyros, accelerometers, and magnetometers is presented. The algorithm uses quaternions to represent rotation, which can avoid the singularity problem caused by using Euler angles. Attitude quaternion errors and drift bias of gyros were selected to construct a state vector. The state equation is established on the base of attitude quaternion error differential equation. The measurements of Kalman filter were obtained through iteration using acceleration and magnetic field vector. The algorithm can significantly reduce calculated amount and can converge quickly to rotation attitude.
KW - Attitude estimation
KW - Kalman filter
KW - Micro flight vehicle
UR - https://www.scopus.com/pages/publications/79952983538
U2 - 10.1109/ICMTMA.2011.685
DO - 10.1109/ICMTMA.2011.685
M3 - Conference contribution
AN - SCOPUS:79952983538
SN - 9780769542966
T3 - Proceedings - 3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011
SP - 457
EP - 460
BT - Proceedings - 3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011
T2 - 3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011
Y2 - 6 January 2011 through 7 January 2011
ER -