Attitude Estimation of Rigid Bodies Using MEMS Inertial Sensors
作者： Bin Fang , Wusheng Chou , Li Ding
关键词:
摘要: The attitude estimation of the rigid bodies using MEMS inertial sensors is presented. bias gyros and accelerometers are tracked by a state algorithm in real-time. uses characteristics sensor noise to automatically recognize motionless periods update sensor's level without any dependency on application specific parameters, frequency separation between signal interest noise, or high-level system model. Then that fuses data from rate proposed. Based kinematics body Newton's force law, modified Rodrigues parameter represented place quaternion. We describe rotation encountering singularity parameters their shadow parameters. And estimated Extended Kalman filter under low acceleration, meanwhile situation high acceleration considered. Finally, proposed tested, simulation results provided show effectiveness algorithm.
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