| Full text | |
| Author(s): |
Silva, Felipe O.
[1]
;
Menezes Filho, Rogerio P.
[1]
;
Vieira, Leonardo A.
[1]
;
Kuga, Helio K.
[2]
;
de Barros, Ettore A.
[3]
Total Authors: 5
|
| Affiliation: | [1] Univ Fed Lavras, Dept Automat, BR-37200900 Lavras, MG - Brazil
[2] Natl Inst Space Res, Div Space Mech & Control, BR-12227010 Sao Jose Dos Campos, SP - Brazil
[3] Univ Sao Paulo, Mechatron Engn Dept, Polytech Sch, BR-05508030 Sao Paulo, SP - Brazil
Total Affiliations: 3
|
| Document type: | Journal article |
| Source: | JOURNAL OF GUIDANCE CONTROL AND DYNAMICS; v. 43, n. 12, p. 2237-2257, DEC 2020. |
| Web of Science Citations: | 0 |
| Abstract | |
This paper revisits the stationary alignment problem of attitude and heading reference systems (AHRSs). The investigation is initiated from the three-axis attitude determination (TRIAD)-based method, purposely chosen to use nonunitary/nonorthogonal observations of the local gravity and Earth's magnetic flux density vectors. For the simplifying assumption of body and navigation frames aligned, a comprehensive error analysis is developed, providing additional insight into the problem. Closed-form formulas for the residual normality and orthogonality errors are used to devise innovative pseudo-bias estimation (PBE) algorithms for the x- and z-axis magnetometer biases, as well as for the z-axis accelerometer bias. As a direct consequence of applying the latter, and also figuring as the main contribution of this paper, an improved (more accurate) AHRS stationary alignment approach is obtained, herein called TRIAD-PBE. The error analysis is extended to representative state-of-the-art attitude determination techniques, confirming the relevance of TRIAD-PBE, especially in the presence of hard-iron magnetism. Results from simulated and experimental tests confirm the adequacy of the outlined verifications. (AU) | |
| FAPESP's process: | 18/14024-2 - Adaptive sensor fusion applied to AUV navigation |
| Grantee: | Ettore Apolonio de Barros |
| Support Opportunities: | Regular Research Grants |