Earticle

초록

영어

This paper presents design and implementation of an attitude and heading reference system (AHRS) based on Gauss Newton and Complementary Filtering algorithm (CF). The algorithm uses data measured from the MEMS sensor which contains a three-axis magnetometer, a three-axis angular rate sensor, and a three-axis accelerometer. The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-standing problem of singularities associated with attitude estimation. A process model for rigid body angular motions and angular rate measurements is defined. The process model converts angular rates into quaternion rates, which are integrated to obtain quaternions. The Gauss-Newton iteration algorithm is utilized to find the optimal quaternion that relates the measured accelerations and earth magnetic field in the body coordinate frame to calculated values in the earth coordinate frame. Then fuse the optimal quaternion with the quaternion updated from gyroscope and calculate the attitude angle based on the complementary filtering algorithm . Extensive testing of the filter have proved feasibility and acceptable performance of this AHRS design.

목차

Abstract
 1. Introduction
 2. General Hardware Architecture of AHRS
 3. Mathematical Background of Attitude Estimation
  3.1. The Definition of Coordinate
  3.2. AHRS Kinematic Model
 4. Sensor Data Fusion
  4.1. Observation Estimation Based on Gauss-Newton Method
  4.2. Magnetic Distortion Compensation
  4.3. Quaternion Complementary Filter
 5. Experiment Result
 6. Conclusion
 References

키워드

저자

• ZhiMin Liu [ School of Automation, Shenyang Aerospace University, Shenyang 110136, China, Shenyang Aircraft Design Institute,Shenyang, 110035,China ]
• Zhao Kai Ning [ School of Automation, Shenyang Aerospace University, Shenyang 110136, China ]
• Feng Tian [ School of Automation, Shenyang Aerospace University, Shenyang 110136, China ]
• ZhenYue Pang [ Shenyang Aircraft Design Institute,Shenyang, 110035,China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Hybrid Information Technology

• 간기

  격월간

• pISSN

  1738-9968

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605