DocumentCode
1079353
Title
Attitude Estimation by Multiple-Mode Kalman Filters
Author
Suh, Young Soo
Author_Institution
Dept. of Electr. Eng., Univ. of Ulsan
Volume
53
Issue
4
fYear
2006
fDate
6/1/2006 12:00:00 AM
Firstpage
1386
Lastpage
1389
Abstract
This letter proposes a multiple-mode Kalman filter for one-dimensional attitude estimation using low-cost accelerometer and gyroscope. The nonlinearity and time-varying parameters are partitioned into several modes; for each mode, a linear time-invariant Kalman filter is selected. Experimental results are given to verify the proposed Kalman filter
Keywords
Kalman filters; accelerometers; gyroscopes; time-varying filters; attitude estimation; gyroscopes; linear time-invariant Kalman filters; low-cost accelerometers; multiple-mode Kalman filters; nonlinearity parameters; time-varying parameters; Acceleration; Accelerometers; Angular velocity; Bandwidth; Gyroscopes; Noise measurement; Position measurement; Unmanned aerial vehicles; Velocity measurement; Vibration measurement; Accelerometer; Kalman filtering; attitude estimation; gyroscope;
fLanguage
English
Journal_Title
Industrial Electronics, IEEE Transactions on
Publisher
ieee
ISSN
0278-0046
Type
jour
DOI
10.1109/TIE.2006.878292
Filename
1667935
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