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Fast Linear Attitude Estimation and Angular Rate Generation

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Abstract

This paper focuses on the design of an approach to estimate attitude Euler angles and virtual gyroscope output based on a linear Kalman filter and attitude information compensation. First, the rotation transformation is built between the body frame and the reference frame by means of an accelerometer-magnetometer triad. The attitude quaternion is invoked for parameterization of orientation which leads to the Kalman filter fusing also the angular rate measurements. Furthermore, to compute the virtual-gyro output in the case of gyroscope failures and obtain bias-free angular rate estimates, virtual gyro Kalman filter is that forms a novel angular rate estimation approach. Some experiment scenarios are given to illustrate the validity and efficiency of the proposed attitude and angular rate estimation approaches.
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Dates and versions

hal-01928684 , version 1 (20-11-2018)

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Zeliang Zhang, Zebo Zhou, Jin Wu, Shuang Du, Hassen Fourati. Fast Linear Attitude Estimation and Angular Rate Generation. IPIN 2018 - International Conference on Indoor Positioning and Indoor Navigation, Sep 2018, Nantes, France. pp.1-7, ⟨10.1109/IPIN.2018.8533736⟩. ⟨hal-01928684⟩
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