| Full text | |
| Author(s): |
Total Authors: 3
|
| Affiliation: | [1] Univ Fed Sao Carlos, Dept Elect Engn, BR-13560 Sao Carlos, SP - Brazil
[2] Univ Sao Paulo, Dept Elect Engn, Sao Carlos, SP - Brazil
Total Affiliations: 2
|
| Document type: | Journal article |
| Source: | IET Control Theory and Applications; v. 10, n. 2, p. 162-172, JAN 19 2016. |
| Web of Science Citations: | 11 |
| Abstract | |
In this study, the authors deal with inertial measurement units subject to uncertainties. They propose an extended robust Kalman filter (ERKF) in a predictoraEurocorrector form to estimate a rigid body attitude. The filter is developed based on regularisation and penalisation whose approaches present the advantage of encompassing in a unified framework all state and output uncertain parameters of the system. The ERKF is tuned based on two degree of freedom which belong to a certain interval known a-priori, useful for online applications. The attitude estimation system proposed takes into account a rigid body model formulated in terms of quaternions. Experimental results are presented based on a comparative study among the ERKF, the standard extended Kalman filter and an o?(a) filter. (AU) | |
| FAPESP's process: | 14/08432-0 - Attitude and heading reference system based on recursive robust Kalman filter implemented in FPGA |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Grants - eScience and Data Science Program - Regular Program Grants |