Calibration and data fusion solution for the miniature attitude and heading reference system

被引：183
|
作者：
Jurman, David [1 ]
Jankovec, Marko [1 ]
Kamnik, Roman [1 ]
Topic, Marko [1 ]
机构：
[1] Univ Ljubljana, Fac Elect Engn, SI-1000 Ljubljana, Slovenia
来源：
SENSORS AND ACTUATORS A-PHYSICAL | 2007年 / 138卷 / 02期
关键词：
inertial measurement unit; electronic compass; sensor calibration; data fusion; Kalman filter;
D O I：
10.1016/j.sna.2007.05.008
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Development, calibration and alignment of a miniature magnetic and inertial measurement unit, which is used as an attitude and heading reference system, are presented. Several guidelines were followed during the design process to make the magnetic and inertial measurement unit suitable for various kinds of applications, thus the system is designed both as small as possible but still modular, consisting of three inertial sensor units, a magnetic sensor unit and a control unit. Complete calibration and alignment procedure is described and an adaptive Kalman filter concept for fusing various sensors' attitude and heading data is introduced and discussed. The characteristics of the magnetic and inertial measurement unit as an attitude and heading reference system are evaluated. The algorithm showed remarkable performance in the orientation determination as the average root mean square error was less than 1.2 degrees over the entire appliable operating range. (C) 2007 Elsevier B.V. All rights reserved.
引用
收藏
页码：411 / 420
页数：10
相关论文
共 50 条
  • [1] Adaptive filter for a miniature MEMS based attitude and heading reference system
    Wang, M
    Yang, YC
    Hatch, RR
    Zhang, YH
    PLANS 2004: POSITION LOCATION AND NAVIGATION SYMPOSIUM, 2004, : 193 - 200
  • [2] Adaptive filter for a miniature MEMS based attitude and heading reference system
    王玫
    王永泉
    张炎华
    Journal of Harbin Institute of Technology(New series), 2006, (05) : 571 - 575
  • [3] Research on the magnetometer error calibration in attitude and heading reference system
    Gao, Yanbin
    Hu, Shoulei
    He, Kunpeng
    Liu, Huiyu
    Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University, 2015, 36 (10): : 1376 - 1379
  • [4] Comparison of Complementary and Kalman Filter Based Data Fusion for Attitude Heading Reference System
    Islam, Tariqul
    Islam, Md. Saiful
    Shajid-Ul-Mahmud, Md.
    Hossam-E-Haider, Md
    PROCEEDINGS OF THE 1ST INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND APPLIED SCIENCE (ICMEAS 2017), 2017, 1919
  • [5] Fuzzy Adaptive Extended Kalman Filter for Miniature Attitude and Heading Reference System
    Qin, Wei
    Yuan, Weizheng
    Chang, Honglong
    Xue, Liang
    Yuan, Guangmin
    2009 4TH IEEE INTERNATIONAL CONFERENCE ON NANO/MICRO ENGINEERED AND MOLECULAR SYSTEMS, VOLS 1 AND 2, 2009, : 1026 - 1030
  • [6] Testing of the attitude and heading reference system
    Tomczyk, A
    AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY, 2002, 74 (02): : 154 - 160
  • [7] A Low Cost Attitude and Heading Reference System
    Zhang Qian
    Wu Yilin
    2018 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2018), 2018, : 626 - 631
  • [8] Attitude and heading reference system with acceleration compensation
    Hemerly, Elder M.
    Maciel, Benedito C. O.
    Milhan, Anderson de P.
    Schad, Valter R.
    AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY, 2012, 84 (02): : 87 - 93
  • [9] Gyrocompassing Mode of the Attitude and Heading Reference System
    Avrutov, V. V.
    Buhaiov, D. V.
    Meleshko, V. V.
    2017 IEEE 4TH INTERNATIONAL CONFERENCE ACTUAL PROBLEMS OF UNMANNED AERIAL VEHICLES DEVELOPMENTS (APUAVD), 2017, : 134 - 138
  • [10] Research on vehicle attitude and heading reference system based on multi-sensor information fusion
    Fan, Jiacheng
    Wang, Zengcai
    Lin, Mingxing
    Fang, Susu
    Liu, Xiangpeng
    Fan, Baiwang
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2020, 234 (13) : 3056 - 3067
12345