Attitude Estimation by Multiple-Mode Kalman Filters
Young Soo Suh
Dept. of Electr. Eng., Univ. of Ulsan;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: June 2006
Volume: 53,
Issue: 4
On page(s): 1386-1389
ISSN: 0278-0046
INSPEC Accession Number: 9064514
Digital Object Identifier: 10.1109/TIE.2006.878292
Current Version Published: 2006-08-07
Abstract
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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