Attitude and heading reference system (AHRS) is a three dimensional measurement package including micro-inertial measurement units (MIMUs) and magnetic sensors, which can accomplish the real-time attitude control of moving bodies. When GPS is added to an AHRS, the combined system becomes a micro inertial sensors based INS/GPS. The whole system, in contrast, can output the position, velocity and attitude information in chosen coordinate frames. The tightly-coupled measurement mode that fuses pseudo_range-pseudo_range rate-heading measurements is proposed and intensively illustrated. Due to the large drifts of MIMUs, the quadratic extended Kalman filter (QEKF) algorithm is introduced substituting for conventional EKF, compensating the quadratic truncation error extracted from parameter linearization according to Taylor expanding theory. The simulation under the same condition indicates that the accuracy of the navigation parameters is highly enhanced, better than the ones obtained from the standard EKF scheme.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Quadratic EKF algorithm enhancements for low cost tightly-coupled AHRS/GPS


    Beteiligte:
    Linlin Xia, (Autor:in) / Jianguo Wang, (Autor:in) / Yindong Liu, (Autor:in)


    Erscheinungsdatum :

    2008-12-01


    Format / Umfang :

    683310 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A Study on Tracking the Attitude of Agricultural Machineries Based on Tightly-coupled GNSS/AHRS

    Hai-feng, Deng / ChengGang, Li / GuoFu, Pan et al. | British Library Conference Proceedings | 2016


    AHRS AHRS flight control device based on mobile platform

    WOO HEE SUNG / RYU CHANG HYOUNG / SONG IN HO et al. | Europäisches Patentamt | 2019

    Freier Zugriff

    AHRS AHRS flight control device based on mobile platform

    Europäisches Patentamt | 2019

    Freier Zugriff

    Low Cost AHRS Aids GPS Attitude Navigation System

    Gao, Tong Yue ;Ge, Hai Lang | Trans Tech Publications | 2014


    A Novel AHRS Estimation Algorithm of Small UAV

    Yang, Yue / Liu, Xiaoxiong / Liu, Xuhang et al. | Springer Verlag | 2021