Invariant observer design of attitude and heading reference system

被引：3
|
作者：
Barczyk, Martin [1 ]
机构：
[1] Univ Alberta, Dept Mech Engn, Edmonton, AB T6G 1H9, Canada
来源：
CONTROL THEORY AND TECHNOLOGY | 2019年 / 17卷 / 03期
基金：
加拿大自然科学与工程研究理事会;
关键词：
Inertial navigation; state estimation; Kalman filters; nonlinear dynamical systems; covariance matrices;
D O I：
10.1007/s11768-019-8028-6
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An attitude and heading reference system (AHRS) is a nonlinear state estimator unit for computing orientation in 3D space. This paper designs an AHRS using three approaches: an invariant observer, an invariant extended Kalman filter (IEKF), and a conventional extended Kalman filter (EKF). The three designs are validated in experiment versus a ground truth, demonstrating the practical interest of the invariant observer methodology and the advantage of the IEKF over the EKF under model uncertainty.
引用
收藏
页码：228 / 240
页数：13
相关论文
共 50 条
  • [1] Invariant observer design of attitude and heading reference system
    Martin Barczyk
    [J]. Control Theory and Technology, 2019, 17 : 228 - 240
  • [2] Design and implementation of a low-cost observer-based attitude and heading reference system
    Martin, Philippe
    Salaun, Erwan
    [J]. CONTROL ENGINEERING PRACTICE, 2010, 18 (07) : 712 - 722
  • [3] Experimental Design for Understanding Attitude Heading Reference System
    Li, Huaijian
    Liu, Li
    Du, Xiaojing
    [J]. 2011 INTERNATIONAL CONFERENCE ON FUTURE COMPUTERS IN EDUCATION (ICFCE 2011), VOL III, 2011, : 358 - 361
  • [4] Design of attitude heading reference system for aerial platform
    Zhang, J
    Jin, ZH
    [J]. PROCEEDINGS OF THE CHINA ASSOCIATION FOR SCIENCE AND TECHNOLOGY, VOL 1, NO 2, 2004, : 292 - 297
  • [5] Sampled-data Fuzzy Observer Design for an Attitude and Heading Reference System and Its Experimental Validation
    Kim, Han Sol
    Park, Jin Bae
    Joo, Young Hoon
    [J]. JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY, 2017, 12 (06) : 2399 - 2410
  • [6] Design of Attitude and Heading Reference System Based on MEMS Sensor
    Liu, Zhiping
    Wu, Lili
    [J]. PROCEEDINGS OF THE 2012 24TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2012, : 2597 - 2601
  • [7] Design and Experimental Evaluation of Immersion and Invariance Observer for Low-Cost Attitude-Heading Reference System
    Keighobadi, Jafar
    Hosseini-Pishrobat, Mehran
    Faraji, Avad
    Langehbiz, Milad Naseri
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2020, 67 (09) : 7871 - 7878
  • [8] Testing of the attitude and heading reference system
    Tomczyk, A
    [J]. AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY, 2002, 74 (02): : 154 - 160
  • [9] Design and Validation of an Attitude and Heading Reference System for an Aerial Robot Prototype
    Milosevic, Bojan
    Naldi, Roberto
    Farella, Elisabetta
    Benini, Luca
    Marconi, Lorenzo
    [J]. 2012 AMERICAN CONTROL CONFERENCE (ACC), 2012, : 1720 - 1725
  • [10] Design and experimental evaluation of block-pulse functions and Legendre polynomials observer for attitude-heading reference system
    Keighobadi, Jafar
    Faraji, Javad
    Janabi-Sharifi, Farrokh
    Hamed, Mohammad Ali
    [J]. ISA TRANSACTIONS, 2021, 116 : 232 - 244
12345