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Fast Linear Attitude Estimation and Angular Rate Generation

Zeliang Zhang 1 Zebo Zhou 1 Jin Wu 1 Shuang Du 1 Hassen Fourati 2
2 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
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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https://hal.inria.fr/hal-01928684
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Submitted on : Tuesday, November 20, 2018 - 4:44:08 PM
Last modification on : Friday, January 10, 2020 - 11:14:02 AM

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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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