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Sensors 2016, 16(10), 1716; doi:10.3390/s16101716

Accurate Attitude Estimation Using ARS under Conditions of Vehicle Movement Based on Disturbance Acceleration Adaptive Estimation and Correction

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China
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Author to whom correspondence should be addressed.
Academic Editor: Mustafa Yavuz
Received: 9 September 2016 / Revised: 9 October 2016 / Accepted: 10 October 2016 / Published: 16 October 2016
(This article belongs to the Special Issue MEMS and Nano-Sensors)
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Abstract

This paper describes a disturbance acceleration adaptive estimate and correction approach for an attitude reference system (ARS) so as to improve the attitude estimate precision under vehicle movement conditions. The proposed approach depends on a Kalman filter, where the attitude error, the gyroscope zero offset error and the disturbance acceleration error are estimated. By switching the filter decay coefficient of the disturbance acceleration model in different acceleration modes, the disturbance acceleration is adaptively estimated and corrected, and then the attitude estimate precision is improved. The filter was tested in three different disturbance acceleration modes (non-acceleration, vibration-acceleration and sustained-acceleration mode, respectively) by digital simulation. Moreover, the proposed approach was tested in a kinematic vehicle experiment as well. Using the designed simulations and kinematic vehicle experiments, it has been shown that the disturbance acceleration of each mode can be accurately estimated and corrected. Moreover, compared with the complementary filter, the experimental results have explicitly demonstrated the proposed approach further improves the attitude estimate precision under vehicle movement conditions. View Full-Text
Keywords: attitude reference system (ARS); attitude estimation; Kalman filter; disturbance acceleration; adaptive estimate and correction attitude reference system (ARS); attitude estimation; Kalman filter; disturbance acceleration; adaptive estimate and correction
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MDPI and ACS Style

Xing, L.; Hang, Y.; Xiong, Z.; Liu, J.; Wan, Z. Accurate Attitude Estimation Using ARS under Conditions of Vehicle Movement Based on Disturbance Acceleration Adaptive Estimation and Correction. Sensors 2016, 16, 1716.

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