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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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dc.contributor.author강철우-
dc.contributor.author유영민-
dc.contributor.author박찬국-
dc.date.accessioned2010-08-24T06:18:59Z-
dc.date.available2010-08-24T06:18:59Z-
dc.date.issued2008-09-
dc.identifier.citation제어·로봇·시스템학회 논문지 vol. 14, no. 9, pp. 1-5en
dc.identifier.issn1976-5622-
dc.identifier.urihttps://hdl.handle.net/10371/69254-
dc.description.abstractTo 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
en
dc.description.sponsorshipNSL(KOSEF)en
dc.language.isokoen
dc.publisher제어·로봇·시스템학회en
dc.subjectattitude reference systemen
dc.subjectARSen
dc.subjectattitude sensoren
dc.subjectinertial sensoren
dc.subjectgyroen
dc.title변형된 오일러각 기반의 칼만필터를 이용한 자세 추정 성능 향상en
dc.title.alternativePerformance Improvement of Attitude Estimation Using Modified Euler Angle Based Kalman Filteren
dc.typeArticleen
dc.contributor.AlternativeAuthorKang, Chul Woo-
dc.contributor.AlternativeAuthorYoo, Young Min-
dc.contributor.AlternativeAuthorPark, Chan Gook-
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