ATTITUDE ESTIMATION FOR A VEHICLE USING INERTIAL SENSORS

被引：11
|
作者：
VAGANAY, J
ALDON, MJ
机构：
[1] LIRMM, URM CNRS 9928, Université Montpellier II, 34392 Montpellier Cedex 5
来源：
CONTROL ENGINEERING PRACTICE | 1994年 / 2卷 / 02期
关键词：
INERTIAL NAVIGATION; ACCELERATION MEASUREMENT; ANGULAR VELOCITY MEASUREMENT; KALMAN FILTERS; VEHICLES; ROBOTS;
D O I：
10.1016/0967-0661(94)90209-7
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an attitude estimation system for an autonomous ground vehicle which is based on the cooperation of low-cost inertial sensors. The attitude is obtained using two different methods. The first method is based on accelerometric measurements of gravity. The second one proceeds by integration of the differential equation relating the robot's attitude and its instantaneous angular velocity which is measured by gyrometers. The advantages of these two solutions are exploited by fusing together the redundant attitude information they provide using an extended Kalman filter.This algorithm has been implemented and tested on a vehicle. Experimental results are presented.
引用
收藏
页码：281 / 287
页数：7
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