Robust Recursive Kalman Filtering for Attitude Estimation

Abstract

AbstractThis paper proposes a new attitude reference system based on a new robust recursive Kalman filter (RRKF) for determination of a vehicle attitude. The attitude estimate is performed based on the combination of signals of low-cost magnetometers, rate gyros and accelerometers considering a rigid body model formulated in terms of quaternions. Experimental results are presented based on a comparative study among the RRKF, the standard extended Kalman filter and an H∞ filter.