Application of UKF for MEMS IMUs and Fluxgate Sensors Based Attitude and Heading Reference System of Carriers
In this paper, an unscented Kalman filter is designed towards a low cost solid-state attitude and heading reference system (AHRS). This system incorporates measurements from micro electronic mechanical system (MEMS) sensors, namely MEMS gyroscopes, MEMS accelerometers and MEMS fluxgate magnetometers, providing unaided, complete and accurate attitude and heading information for carriers. To realize the unscented Kalman filter (UKF) algorithm, the derived attitude parameterizations based on the direction cosine matrix (DCM) and quaternion algebra are intensively illustrated, an overall description of AHRS is presented in detail, and the state and measurement model are stressed by elaborate analyses as well. In addition, the superior performance of the UKF algorithm is discussed by the procedure of unscented transformation (UT) and unscented filter. The simulation test shows when the carrier is in dynamic environment, the attitudes and heading angles error are within 0.2° and 2° respectively. The particular filtering approach, illustrated here proves to be a practical approach for deriving body attitude and heading estimates in real time.
Lin ZHAO Linlin XIA Fanming LIU Yi CHENG
Harbin Engineering University, China
国际会议
2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)
哈尔滨
英文
2007-05-23（万方平台首次上网日期，不代表论文的发表时间）