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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
- Issue Date
- 2008-09
- Publisher
- 제어·로봇·시스템학회
- Citation
- 제어·로봇·시스템학회 논문지 vol. 14, no. 9, pp. 1-5
- Keywords
- attitude reference system ; ARS ; attitude sensor ; inertial sensor ; gyro
- 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
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