Data fusion‐based descriptor approach for attitude estimation under accelerated maneuvers

This paper proposes the design of an attitude estimation algorithm for a rigid body subject to accelerated maneuvers. Unlike the current literature where the process model is usually driven by triaxial gyroscope measurements, we investigate a new formulation of the state‐space model where the proces...

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Bibliographic Details
Published inAsian journal of control Vol. 21; no. 4; pp. 1433 - 1442
Main Authors Makni, Aida, Kibangou, Alain Y., Fourati, Hassen
Format Journal Article
LanguageEnglish
Published Hoboken Wiley Subscription Services, Inc 01.07.2019
Subjects
Acceleration
Accelerometers
Algorithms
attitude estimation
Attitudes
Computer simulation
Data integration
descriptor filter
external acceleration
Maneuvers
MARG sensors
Multisensor fusion
quaternion
Quaternions
Rigid structures
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Summary:This paper proposes the design of an attitude estimation algorithm for a rigid body subject to accelerated maneuvers. Unlike the current literature where the process model is usually driven by triaxial gyroscope measurements, we investigate a new formulation of the state‐space model where the process model is given by triaxial accelerometer measurements. The observation model is given by triaxial gyroscope and magnetometer measurements. The proposed model is written as a descriptor system and takes the external acceleration sensed by the accelerometer into account. Based on this model, a Quaternion Descriptor Filter (QDF) is developed and its performance is evaluated through simulations and experimental tests in pedestrian navigation.
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ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.2084