# A Portable Support Attitude Sensing System for Accurate Attitude Estimation of Hydraulic Support Based on Unscented Kalman Filter.

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### "A Portable Support Attitude Sensing..." refers methods in this paper

...In order to reduce yaw drift of attitude rotation estimation in indoor scenarios, an improved EKF combining INS mechanization algorithm and zero velocity update methodology is proposed to improve the accuracy of yaw estimation [27], but the Jacobian matrix is used to update the state transition matrix and the observation matrix in the linearization steps of system equation in attitude determination, which leads to poor stability and large estimation bias....

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298 citations

### "A Portable Support Attitude Sensing..." refers background in this paper

...set, which can be used in any state space models [33,34]....

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258 citations

### "A Portable Support Attitude Sensing..." refers methods in this paper

...However, the particle filter is a sequential importance sampling filtering method based on Bayesian estimation [32] and its idea is based on the Monte Carlo method to represent probability with particle...

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258 citations