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Simple-Structured Quaternion Estimator Separating Inertial and Magnetic Sensor Effects.
- Source :
-
IEEE Transactions on Aerospace & Electronic Systems . Dec2019, Vol. 55 Issue 6, p2698-2706. 9p. - Publication Year :
- 2019
-
Abstract
- This paper presents a new filter estimating quaternion using inertial and magnetic sensors. Using a reference coordinate system multiplicative quaternion error representation and a constrained structure filter gain, the proposed filter has a separation property, where the magnetic sensor output does not affect pitch and roll angle estimation. Furthermore, the proposed filter gain can be computed just from five scalar equations. Through simulation, the separation property of the proposed filter is verified. [ABSTRACT FROM AUTHOR]
- Subjects :
- *MAGNETIC sensors
*QUATERNIONS
*COORDINATES
*MAGNETIC separation
*KALMAN filtering
Subjects
Details
- Language :
- English
- ISSN :
- 00189251
- Volume :
- 55
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Aerospace & Electronic Systems
- Publication Type :
- Academic Journal
- Accession number :
- 140253325
- Full Text :
- https://doi.org/10.1109/TAES.2019.2901559