教師資料查詢 | 類別: 期刊論文 | 教師: 蕭照焜SHIAU JAW-KUEN (瀏覽個人網頁)

標題:Unscented Kalman Filtering for Attitude Determination Using MEMS Sensors
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
語言英文(美國)
ISSN1560-6686
期刊性質國內
收錄於SCI;EI;
產學合作
通訊作者
審稿制度
國別中華民國
公開徵稿
出版型式,電子版,紙本
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