Abstract
In order to reduce the computational complexity, and improve the pitch/roll estimation accuracy of the low-cost attitude heading reference system (AHRS) under conditions of magnetic-distortion, a novel linear Kalman filter, suitable for nonlinear attitude estimation, is proposed in this paper. The new algorithm is the combination of two-step geometrically-intuitive correction (TGIC) and the Kalman filter. In the proposed algorithm, the sequential two-step geometrically-intuitive correction scheme is used to make the current estimation of pitch/roll immune to magnetic distortion. Meanwhile, the TGIC produces a computed quaternion input for the Kalman filter, which avoids the linearization error of measurement equations and reduces the computational complexity. Several experiments have been carried out to validate the performance of the filter design. The results demonstrate that the mean time consumption and the root mean square error (RMSE) of pitch/roll estimation under magnetic disturbances are reduced by 45.9% and 33.8%, respectively, when compared with a standard filter. In addition, the proposed filter is applicable for attitude estimation under various dynamic conditions.
Highlights
IntroductionA strap-down MARG (magnetic, angular rate, and gravity) system, known as attitude heading reference system (AHRS) (attitude and heading reference system) [6,7,8,9] is commonly used to determine the orientation of a moving object in three-dimensional spaces
Accurate orientation estimation is essential for navigation in a wide range of applications, such as unmanned aerial vehicle (UAV) navigation, mobile devices [1,2], autonomous underwater vehicle (AUV) navigation and human body motion tracking, etc. [3,4,5], in the industrial and military fields.A strap-down MARG system, known as attitude heading reference system (AHRS) [6,7,8,9] is commonly used to determine the orientation of a moving object in three-dimensional spaces
A novel two-layer Kalman filter was proposed for the orientation estimation of AHRS
Summary
A strap-down MARG (magnetic, angular rate, and gravity) system, known as AHRS (attitude and heading reference system) [6,7,8,9] is commonly used to determine the orientation of a moving object in three-dimensional spaces. The AHRS can determine the 3-D orientation with gravity and magnetic field measurements from the accelerometer and magnetometer, or propagates the attitude by integrating gyroscope output from known initial conditions. An accelerometer measures the gravitational direction and the linear acceleration of the vehicle in dynamic situations. In this case, it is difficult to dissociate the linear acceleration from the gravity and calculate the attitude accurately. A gyroscope, especially the Sensors 2017, 17, 2146; doi:10.3390/s17092146 www.mdpi.com/journal/sensors
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