Fast Linear Attitude Estimation and Angular Rate Generation

Zeliang Zhang (1) , Zebo Zhou (1) , Jin Wu (1) , Shuang Du (1) , Hassen Fourati (2)

1 UESTC - School of Aeronautics and Astronautics [Chengdu]
2 NECS - Networked Controlled Systems

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.

Mots clés: Attitude estimation; Kalman filter; Wahba's problem; Angular rate estimation

Domaines: Automatique / Robotique

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⟩