Abstract
This paper presents the design, analysis and performance of modified continuous extended Kalman filter based on complementary properties. The modified design departs from traditional solutions as better dynamic performance and steady-state performance for estimating the attitude angles on three axises, and effectively dominate the disturbance in practical system. In order to illustrate the better performance, the simulation results are given by comparing traditional extended Kalman filter with modified filter.
| Original language | English |
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| Title of host publication | 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012 |
| Pages | 901-906 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2012 |
| Event | 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012 - Guangzhou, China Duration: 5 Dec 2012 → 7 Dec 2012 |
Publication series
| Name | 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012 |
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Conference
| Conference | 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012 |
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| Country/Territory | China |
| City | Guangzhou |
| Period | 5/12/12 → 7/12/12 |
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Ou, Y., Xia, Y., & Fu, M. (2012). A modified method of nonlinear attitude estimation based on EKF. In 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012 (pp. 901-906). Article 6485277 (2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012). https://doi.org/10.1109/ICARCV.2012.6485277