Drift-free attitude estimation for accelerated rigid bodies |
| |
Authors: | Henrik Rehbinder [Author Vitae] |
| |
Affiliation: | a RaySearch Laboratories, Stockholm 111 34, Sweden b Optimization and Systems Theory, Royal Institute of Technology, Stockholm 10044, Sweden |
| |
Abstract: | In this paper we study the attitude estimation problem for an accelerated rigid body using gyros and accelerometers. The application in mind is that of a walking robot and particular attention is paid to the large and abrupt changes in accelerations that can be expected in such an environment. We propose a state estimation algorithm that fuses data from rate gyros and accelerometers to give long-term drift free attitude estimates. The algorithm does not use any local parameterization of the rigid body kinematics and can thus be used for a rigid body performing any kind of rotations. The algorithm is a combination of two non-standard, but in a sense linear, Kalman filters between which a trigger based switching takes place. The kinematics representation used makes it possible to construct a linear algorithm that can be shown to give convergent estimates for this nonlinear problem. The state estimator is evaluated in simulations demonstrating how the estimates are long-term stable even in the presence of gyro drift. |
| |
Keywords: | Attitude estimation Nonlinear filtering Multisensor systems Mobile robots Sensor fusion |
本文献已被 ScienceDirect 等数据库收录! |