Attitude estimation of an accelerated rigid body with sensor fusion based-on switching extended Kalman filter

@article{Edrisi2015AttitudeEO,
  title={Attitude estimation of an accelerated rigid body with sensor fusion based-on switching extended Kalman filter},
  author={Farid Edrisi and Vahid Johari Majd},
  journal={2015 AI & Robotics (IRANOPEN)},
  year={2015},
  pages={1-6}
}
In this paper a new method is proposed for attitude estimation of an accelerated rigid body. The sensors are used consist of Inertial Measurement Unit (a 3- axis gyroscope with uncompensated bias and a 3-axis accelerometer) and a 3-axis magnetometer. To improve the accuracy of attitude estimation an extended Kalman filter (EKF) with a switching rule is used to fuse the sensory information. In practical applications, under the external acceleration, the output of accelerometer is not reliable… CONTINUE READING
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