Kalman Filter and Complementary Filter in Attitude Estimation of APM-Reference-Cited by-同舟云学术

Kalman Filter and Complementary Filter in Attitude Estimation of APM

Published:2014-07 Issue: Volume:577 Page:794-797
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Lin Feng¹,Miao Xi Lan¹,Qu Xiao Guang¹

Affiliation:

1. Shenyang Aerospace University

Abstract

This paper presents the results of a quaternion based extend Kalman filter (EKF) and complementary filter for ArduPilotMega (APM) attitude estimation. In addition, a new method to get the measurement noise covariance matrix R is proposed. Experimental results show that the two algorithms can meet the requirements, but the complementary filter can yield better performance than EKF.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.577.794.pdf

Reference8 articles.

1. Cassano, J., Antarctic Research Project: Unmanned Aerial Vehicles - Studying Air and Sea Interactions at Terra Nova Bay, (2009).

2. Kontoes, C.; Keramitsoglou, I.; Sifakis, N.; Konstantinidis, P. SITHON: An airborne fire detection system compliant with operational tactical requirements. Sensors, 9, 1204–1220, (2009).

3. H. F. Grip, T. I. Fossen, T. A. Johansen and A. Saberi. Attitude estimation using biased gyro and vector measurements with time-varying reference vectors. IEEE Transactions Automatic Control, (2012).

4. Pang, H., D. Chen, M. Pan, S. Luo, Q. Zhang and F. Luo , Calibration of three-axis fluxgate magnetometers with nonlinear least square method, Measurement , (2013).

5. P. Batista, C. Silvestre, P. Oliveira, and B. Cardeira, Low-cost attitude and heading reference system: Filter design and experimental evaluation, in Robotics and Automation (ICRA), IEEE International Conference on, pp.2624-2629, (2010).