Attitude Estimation by Multiple-Mode Kalman Filters
Young Soo Suh
Industrial Electronics, IEEE Transactions on
Volume 53, Issue 4, June 2006 Page(s):1386 - 1389
Digital Object Identifier   10.1109/TIE.2006.878292
Summary:This letter proposes a multiple-mode Kalman filter for one-dimensional attitude estimation using low-cost accelerometer and gyroscope. The nonlinearity and time-varying parameters are partitioned into several modes; for each mode, a linear time-invariant Kalman filter is selected. Experimental results are given to verify the proposed Kalman filter

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