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Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations
المؤلفون المشاركون
Wada, Chikamune
Widodo, Romy Budhi
المصدر
العدد
المجلد 2016، العدد 2016 (31 ديسمبر/كانون الأول 2016)، ص ص. 1-24، 24ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2016-08-07
دولة النشر
مصر
عدد الصفحات
24
التخصصات الرئيسية
الملخص EN
Attitude estimation is often inaccurate during highly dynamic motion due to the external acceleration.
This paper proposes extended Kalman filter-based attitude estimation using a new algorithm to overcome the external acceleration.
This algorithm is based on an external acceleration compensation model to be used as a modifying parameter in adjusting the measurement noise covariance matrix of the extended Kalman filter.
The experiment was conducted to verify the estimation accuracy, that is, one-axis and multiple axes sensor movement.
Five approaches were used to test the estimation of the attitude: (1) the KF-based model without compensating for external acceleration, (2) the proposed KF-based model which employs the external acceleration compensation model, (3) the two-step KF using weighted-based switching approach, (4) the KF-based model which uses the threshold-based approach, and (5) the KF-based model which uses the threshold-based approach combined with a softened part approach.
The proposed algorithm showed high effectiveness during the one-axis test.
When the testing conditions employed multiple axes, the estimation accuracy increased using the proposed approach and exhibited external acceleration rejection at the right timing.
The proposed algorithm has fewer parameters that need to be set at the expense of the sharpness of signal edge transition.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Widodo, Romy Budhi& Wada, Chikamune. 2016. Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations. Journal of Sensors،Vol. 2016, no. 2016, pp.1-24.
https://search.emarefa.net/detail/BIM-1110573
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Widodo, Romy Budhi& Wada, Chikamune. Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations. Journal of Sensors No. 2016 (2016), pp.1-24.
https://search.emarefa.net/detail/BIM-1110573
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Widodo, Romy Budhi& Wada, Chikamune. Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations. Journal of Sensors. 2016. Vol. 2016, no. 2016, pp.1-24.
https://search.emarefa.net/detail/BIM-1110573
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1110573
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر
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