TY - GEN
T1 - Real-time and high-performance attitude and heading reference system based on MIMU/magnetometers
AU - Qin, Wei
AU - Yuan, Weizheng
AU - Chang, Honglong
AU - Xue, Liang
AU - Yuan, Guangmin
PY - 2009
Y1 - 2009
N2 - In the paper, an attitude and heading reference system based on MIMU/magnetometers with moderate accuracy is presented. To meet the requirements of the real-time measurement, a master/slave CPU structure is proposed in order to improve the data refresh rate effectively. In the algorithm part, an adaptive extended Kaiman filter equation is applied in the system, where the filter equation uses three tilt angles of attitude and three bias errors for the gyroscopes as state vectors, the measurements of three accelerometers and magnetometers are used to drive the state update. When the system is in dynamic mode, the measured values of the accelerometers consist of the gravity vector and the dynamic accelerations, an adaptive extended Kaiman filter tunes its gain automatically based on the system dynamics sensed by the accelerometers to yield optimal performance. The experiment result shows that the attitude and heading angle errors are within 0.2 deg and 0.5 deg respectively in stationary mode, and the result can reflect the attitude angles reasonably in dynamic mode.
AB - In the paper, an attitude and heading reference system based on MIMU/magnetometers with moderate accuracy is presented. To meet the requirements of the real-time measurement, a master/slave CPU structure is proposed in order to improve the data refresh rate effectively. In the algorithm part, an adaptive extended Kaiman filter equation is applied in the system, where the filter equation uses three tilt angles of attitude and three bias errors for the gyroscopes as state vectors, the measurements of three accelerometers and magnetometers are used to drive the state update. When the system is in dynamic mode, the measured values of the accelerometers consist of the gravity vector and the dynamic accelerations, an adaptive extended Kaiman filter tunes its gain automatically based on the system dynamics sensed by the accelerometers to yield optimal performance. The experiment result shows that the attitude and heading angle errors are within 0.2 deg and 0.5 deg respectively in stationary mode, and the result can reflect the attitude angles reasonably in dynamic mode.
KW - Adaptive extended Kaiman filter
KW - Attitude and heading reference system
KW - Magnetometer
KW - Master/slave CPU
KW - MIMU
KW - Real-time
UR - http://www.scopus.com/inward/record.url?scp=71849086995&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/amr.60-61.219
DO - 10.4028/www.scientific.net/amr.60-61.219
M3 - 会议稿件
AN - SCOPUS:71849086995
SN - 0878493395
SN - 9780878493395
T3 - Advanced Materials Research
SP - 219
EP - 223
BT - Micro and Nano Technology - 1st International Conference Society of Micro/Nano Technology, CSMNT
PB - Trans Tech Publications
T2 - Micro and Nano Technology - 1st International Conference Society of Micro/Nano Technology, CSMNT
Y2 - 19 November 2008 through 22 November 2008
ER -