In this paper the authors propose a nonlinear filter for estimating the orientation of a flying rigid body, using measurements from low-cost inertial and magnetic sensors. It has by design a nice geometrical structure appealing from an engineering viewpoint; it is easy to tune, computationally very economic, and with guaranteed (at least local) convergence around every trajectory. Moreover it behaves sensibly in the presence of acceleration and magnetic disturbances. They illustrate its good performance on experimental comparisons with a commercial system, and demonstrate its simplicity by implementing it on an 8-bit microcontroller.
An embedded attitude and heading reference system based on a nonlinear filter
Ein eingebettetes Fluglage- und Steuerkurs-Referenzsystem auf Basis eines nichtlinearen Filters
2009
15 Seiten
Conference paper
English
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