Drift-free attitude estimation for accelerated rigid bodies
type: Item
instance of: scholarly article
title: Drift-free attitude estimation for accelerated rigid bodies
zbMATH Open document ID: 1168.93403
author: Henrik Rehbinder
author: Xiaoming Hu
published in: Automatica
publication date: 2004-06-15T00:00:00Z
review text: A rigid body, moving in the inertial space in the presence of gravity, is supplied with 3-axes gyro and 3-axis accelerometer. The gyro measures the angular velocity in the body fixed frame and the accelerometer measures the sum of inertial forces and gravity in this frame. The body rotation kinematics is written in the linear form by use of equations, describing moving of the vertical unit vector in the body fixed frame. It makes possible to apply a linear Kalman filter for the body attitude estimation. The proposed switching algorithm consists of two modes: one for low and one for high accelerations. The gyro drift is neglected in the analysis, but simulations show, that the algorithm can work with gyro biases. These results are aimed at the application for walking robots.
Mathematics Subject Classification ID: 93E10
Mathematics Subject Classification ID: 93E11
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 70Q05
zbMATH DE Number: 2075429
zbMATH Keywords: attitude estimation
zbMATH Keywords: nonlinear filtering
zbMATH Keywords: multisensor systems
zbMATH Keywords: mobile robots
zbMATH Keywords: sensor fusion
MaRDI profile type: Publication
full work available at URL: j.automatica.2003.11.002
OpenAlex ID: W2045308959
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DOI: 10.1016/J.AUTOMATICA.2003.11.002
description: scientific article; zbMATH DE number 2075429