Title :
A modified method of nonlinear attitude estimation based on EKF
Author :
Yang Ou ; Yuanqing Xia ; Mengyin Fu
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
This paper presents the design, analysis and performance of modified continuous extended Kalman filter based on complementary properties. The modified design departs from traditional solutions as better dynamic performance and steady-state performance for estimating the attitude angles on three axises, and effectively dominate the disturbance in practical system. In order to illustrate the better performance, the simulation results are given by comparing traditional extended Kalman filter with modified filter.
Keywords :
Kalman filters; attitude control; attitude measurement; nonlinear filters; nonlinear systems; observability; EKF; attitude angle estimation; complementary property; dynamic performance; modified continuous extended Kalman filter; modified filter; nonlinear attitude estimation; nonlinear system; observability; steady-state performance; vector observation; Estimation; Kalman filters; Mathematical model; Noise; Nonlinear systems; Observability; Vectors;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2012 12th International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-1871-6
Electronic_ISBN :
978-1-4673-1870-9
DOI :
10.1109/ICARCV.2012.6485277
