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Attitude Estimation by Multiple-Mode Kalman Filters

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1 Author(s)
Young Soo Suh ; Dept. of Electr. Eng., Univ. of Ulsan

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

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:53 ,  Issue: 4 )