| Title |
AHRS Development Using Still-State Estimation and Indirect Kalman Filter |
| Authors |
홍효성(Hyosung Hong) ; 원문철(Mooncheol Won) |
| DOI |
https://doi.org/10.5370/KIEE.2019.68.6.797 |
| Keywords |
Kalman filter ; Indirect Kalman filter ; Attitude estimation ; Sensor fusion ; AHRS |
| Abstract |
The AHRS(Attitude and Heading Reference System) estimates the attitude (roll, pitch, and yaw angles) by using sensor fusion technique from an IMU(Inertial Measurement Unit) which comprises 3-axis acceleration and angular velocity information. Compared to maritime vessels or aircraft, the ground vehicle's attitude changes rapidly, which requires an exquisite attitude estimation algorithm. This paper suggests a sensor fusion AHRS algorithm which utilizes still-state estimation algorithm along with indirect Kalman filter for attitude estimation. Also, we applied this algorithm on AHRS hardware to evaluate its performance. We implemented three kinds of experiments to verify the suggested algorithm: lateral acceleration rejection test, 3-axis robot simulator test, and vehicle field test. |