Journal ArticleDOI
Design of multi-sensor attitude determination systems
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TLDR
In this article, the design of inexpensive multi-sensor attitude determination systems is discussed, where fuse information from a triad of solid state rate gyros with an aiding system mechanized using GPS or magnetometers and accelerometers are developed.Abstract:
The design of inexpensive multi-sensor attitude determination systems is discussed. The systems discussed fuse information from a triad of solid state rate gyros with an aiding system mechanized using GPS or magnetometers and accelerometers. Euler angle and quaternion-based sensor fusion algorithms are developed. Methods for gain scheduling and estimator pole placement are presented. Using simulation and flight test results, it is shown that quaternion-based algorithms simplify gain scheduling and improve transient response.read more
Citations
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Journal ArticleDOI
Nonlinear Complementary Filters on the Special Orthogonal Group
TL;DR: An observer on SO(3), termed the explicit complementary filter, that requires only accelerometer and gyro outputs; is suitable for implementation on embedded hardware; and provides good attitude estimates as well as estimating the gyro biases online.
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Digital control of dynamic systems
TL;DR: Digital Control Of Dynamic Systems This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems with an emphasis on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude.
Proceedings ArticleDOI
A complementary filter for attitude estimation of a fixed-wing UAV
TL;DR: A nonlinear complementary filter is proposed that combines accelerometer output for low frequency attitude estimation with integrated gyrometer output for high frequency estimation that is evaluated against the output from a full GPS/INS that was available for the data set.
Journal ArticleDOI
Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing
TL;DR: This paper reviews the main sensor fusion and filtering techniques proposed for accurate inertial/magnetic orientation tracking of human body parts and gives useful recipes for their actual implementation.
Journal ArticleDOI
Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs
TL;DR: A novel complementary filter for MAVs that fuses together gyroscope data with accelerometer and magnetic field readings and outperforms other common methods, using publicly available datasets with ground-truth data recorded during a real flight experiment of a micro quadrotor helicopter.
References
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Book
Digital control of dynamic systems
TL;DR: This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems and thoroughly integrates MATLAB statements and problems to offer readers a complete design picture.
Journal ArticleDOI
Kalman Filtering for Spacecraft Attitude Estimation
TL;DR: In this article, the authors present a review of the methods of Kalman filtering in attitude estimation and their development over the last two decades, focusing on three-axis gyros and attitude sensors.
Book
Quaternions and Rotation Sequences
TL;DR: In this paper, the quaternion rotation operator is introduced and defined, and a brief introduction to its properties and algebra is given, as well as its primary application, which is to compete with the conventional matrix rotation operator in a variety of rotation sequences.
Journal ArticleDOI
Digital control of dynamic systems
TL;DR: Digital Control Of Dynamic Systems This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems with an emphasis on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude.