期刊論文
| 學年 | 101 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2013-06-01 |
| 作品名稱 | Unscented Kalman Filtering for Attitude Determination Using MEMS Sensors |
| 作品名稱（其他語言） | |
| 著者 | Shiau, Jaw-Kuen; Wang, I-Chiang |
| 單位 | 淡江大學航空太空工程學系 |
| 出版者 | 新北市：淡江大學 |
| 著錄名稱、卷期、頁數 | Journal of Applied Science and Engineering 16(2), pp.165-176 |
| 摘要 | This paper presents the results of a quaternion-based unscented Kalman filtering for attitude estimation using low cost MEMS sensors. The unscented Kalman filter uses the pitch and roll angles computed from gravity force decomposition as the measurement for the filter. The immeasurable gravity accelerations are deduced from the outputs of the three axes accelerometers, the relative accelerations, and the accelerations due to body rotation. The constraint of the four elements of the quaternion method is treated as a perfect measurement and is integrated into the system to form a constrained unscented Kalman filter. The heading angle is obtained from a complimentary filter which uses the heading signal derived from the magnetic force information from an electronic magnetic sensor and the GPS-derived heading as the inputs. An experiment using an in-house designed motion platform is conducted to evaluate the proposed algorithm. The noise characteristics of the sensor signals are examined using the laboratory data. Approximations of the time-varying noise variances of the measured signals are obtained through Taylor series expansions. The algorithm is intuitive and easy to implement. Moreover, the proposed algorithm and the filter design are successfully demonstrated through a complete set of flight test data. |
| 關鍵字 | Flight Information Measurement;Nonlinear Kalman Filter;Quaternion;Complementary Filter |
| 語言 | en_US |
| ISSN | 1560-6686 |
| 期刊性質 | 國內 |
| 收錄於 | SCI EI |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 是 |
| 國別 | TWN |
| 公開徵稿 | |
| 出版型式 | ,電子版,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/83703 ) |