Extended robust Kalman filter for attitude estimation

Autor(es)

Inoue, Roberto Santos ^[1] ; Terra, Marco Henrique ^[2] ; Cerri, Joao Paulo ^[2]

Afiliação do(s) autor(es)

^[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

• Tipo de documento: Artigo Científico
• Fonte: IET Control Theory and Applications; v. 10, n. 2, p. 162-172, JAN 19 2016.
• Citações Web of Science: 11

Resumo

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)

• Processo FAPESP: 14/08432-0 - Sistema de referência de atitude, orientação e posição baseado em Filtro de Kalman robusto implementado em FPGA
• Beneficiário: Marco Henrique Terra
• Linha de fomento: Auxílio à Pesquisa - Programa eScience e Data Science - Regular
• Processo FAPESP: 07/03484-8 - Controle robusto descentralizado de moviemtnos coordenados de robos heterogeneos.
• Beneficiário: Roberto Santos Inoue
• Linha de fomento: Bolsas no Brasil - Doutorado