Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Attitude Estimation using Adaptive Extended Kalman Filter

적응 확장 칼만 필터를 이용한 3차원 자세 추정

  • 서영수 (울산대학교 전기전자정보시스템공학과) ;
  • 신영훈 (울산대학교 전기전자정보시스템공학과) ;
  • 박상경 (울산대학교 전기전자정보시스템공학과) ;
  • 강희준 (울산대학교 전기전자정보시스템공학과)
  • Published : 2004.05.22
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Abstract

This paper is concerned with attitude estimation using low cost, small-sized accelerometers and gyroscopes. A two step extended Kalman filter is proposed, which adaptively compensates external acceleration. External acceleration is the main source of estimation error. In the proposed filter, direction of external acceleration is estimated. According to the estimated direction, the accelerometer measurement covariance matrix of the two step extended Kalman filter is adjusted. The proposed algorithm is verified through experiments.

Keywords