Expansion of Attitude Determination Algorithms via Complementary Filtering

被引：0

作者：

Janusz, Wojciech ^{[1
]}

Czyba, Roman ^{[1
]}

Niezabitowski, Michal ^{[1
]}

Grzejszczak, Tomasz ^{[1
]}

机构：

[1] Silesian Tech Univ, Akad 2A St, PL-44100 Gliwice, Poland

来源：

2017 25TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2017年

关键词：

SPECIAL ORTHOGONAL GROUP; BODY MOTION TRACKING; KALMAN FILTER; IMPLEMENTATION; DESIGN; TRIAD;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we present and compare four methods which address attitude estimation problem using Inertial Measurement Unit (IMU). The result of these algorithms is attitude estimate in the form of attitude quaternion. Two of these methods are authors original propositions based on expanding attitude determination algorithms by additional complementary filtering. It is shown, that this expansion significantly reduces the estimation errors.

引用

页码：607 / 612

页数：6

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