Pose estimation of a rigid body and its supporting moving platform using two gyroscopes and relative complementary measurements

Yizhai Zhang, Kehao Song, Jingang Yi, Zhansheng Duan, Quan Pan, Panfeng Huang

科研成果: 书/报告/会议事项章节会议稿件同行评审

3 引用 (Scopus)

摘要

We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative attitude estimation between the rigid body and the platform, but also is capable of identifying partial global absolute attitudes without capturing any absolute attitude information. The pose estimation is built on a special design of the coupled kinematic model with the relative measurements between the rigid body and its supporting platform. We compare the fusion design with an alternative kinematic model and the posterior Cramer-Rao bound analyses are presented to show the completely different estimation performances. An extended Kalman filter (EKF) implementation of the fusion design is presented for the bicycle riding application.

源语言英语
主期刊名IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
出版商Institute of Electrical and Electronics Engineers Inc.
90-95
页数6
ISBN(电子版)9781509037629
DOI
出版状态已出版 - 28 11月 2016
活动2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, 韩国
期限: 9 10月 201614 10月 2016

出版系列

姓名IEEE International Conference on Intelligent Robots and Systems
2016-November
ISSN(印刷版)2153-0858
ISSN(电子版)2153-0866

会议

会议2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
国家/地区韩国
Daejeon
时期9/10/1614/10/16

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