Title :
Attitude Estimation by Multiple-Mode Kalman Filters
Author_Institution :
Dept. of Electr. Eng., Univ. of Ulsan
fDate :
6/1/2006 12:00:00 AM
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;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.2006.878292
