Title :
A multiplicative filter for GLMAV attitude estimation
Author :
Grandvallet, Bertrand ; Boutayeb, M. ; Zemouche, A.
Author_Institution :
Centre de Rech. en Autom. de Nancy, Nancy-Univ., Cosnes-et-Romain, France
Abstract :
In this paper the authors investigate the problem of attitude estimation applied to the Gun Launched Micro Aerial Vehicle (GLMAV), using low cost sensors. The main contribution of the paper consists in the design of a sliding window filter for quaternion estimation. The proposed approach is considered in an EKF framework in order to ensure a better robustness to external perturbations. Finally, high performances of the filter are shown through numerical simulations.
Keywords :
Kalman filters; aircraft control; attitude measurement; nonlinear filters; numerical analysis; perturbation techniques; EKF framework; GLMAV attitude estimation; extended Kalman filter framework; external perturbations; gun launched micro aerial vehicle; low cost sensors; multiplicative filter; numerical simulations; quaternion estimation; sliding window filter design; Accelerometers; Estimation; Magnetic sensors; Magnetometers; Quaternions; Vectors;
Conference_Titel :
Control Conference (ECC), 2013 European
Conference_Location :
Zurich