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변형된 오일러각 기반의 칼만필터를 이용한 자세 추정 성능 향상
Performance Improvement of Attitude Estimation Using Modified Euler Angle Based Kalman Filter

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Authors
강철우; 유영민; 박찬국
Issue Date
2008-09
Publisher
제어·로봇·시스템학회
Citation
제어·로봇·시스템학회 논문지 vol. 14, no. 9, pp. 1-5
Keywords
attitude reference systemARSattitude sensorinertial sensorgyro
Abstract
To calculate the attitude in ARS(Attitude Reference System) using 3 gyros and 3 accelerometers, gyro drift must be
compensated with accelerometer to avoid divergence of attitude error. Kalman filter is most popular method to integrate those two
sensor outputs. In this paper, new Kalman filtering method is proposed for roll and pitch attitude estimation. New states are defined
to make linear equation and algorithm for changing Kalman filter parameters is proposed to ignore disturbances of acceleration. This
algorithm can be easily applied to low cost ARS
ISSN
1976-5622
Language
Korean
URI
http://hdl.handle.net/10371/69254
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Journal Papers (저널논문_기계항공공학부)
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