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Abstract
The output of the attitude determination systems suffers from large errors in case of accelerometer malfunctions. In this paper, an attitude estimator, based on Virtual Horizontal Reference (VHR), is designed for an Attitude Heading and Reference System (AHRS) to cope with this problem. The VHR makes it possible to correct the output of roll and pitch of the attitude estimator in the situations without accelerometer measurements, which cannot be achieved by the conventional nonlinear attitude estimator. The performance of VHR is tested both in simulation and hardware environment to validate their estimation performance. Moreover, the hardware test results are compared with that of a high-precision commercial AHRS to verify the estimation results. The implemented algorithm has shown high accuracy of attitude estimation that makes the system suitable for many applications.
Original language | English |
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Title of host publication | Proceedings of 2016 American Control Conference |
Number of pages | 7 |
Publisher | American Automatic Control Council |
Publication date | Jul 2016 |
Pages | 5504 - 5510 |
ISBN (Electronic) | 978-1-4673-8682-1 |
DOIs | |
Publication status | Published - Jul 2016 |
Event | 2016 American Control Conference - Boston Marriott Copley Place, Boston, MA, United States Duration: 6 Jul 2016 → 8 Jul 2016 http://acc2016.a2c2.org/ |
Conference
Conference | 2016 American Control Conference |
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Location | Boston Marriott Copley Place |
Country/Territory | United States |
City | Boston, MA |
Period | 06/07/2016 → 08/07/2016 |
Internet address |
Keywords
- Quaternions
- Accelerometers
- Micromechanical devices
- Estimation
- Magnetometers
- Sensors
- Hardware
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Dive into the research topics of 'An Estimator for Attitude and Heading Reference Systems Based on Virtual Horizontal Reference'. Together they form a unique fingerprint.Projects
- 1 Finished
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Star2Com: Stabilization and control of Satellite-tracking antennas for marine Communication (Star2 Com)
N. Soltani, M., Pedersen, J. K., Yang, Z., Nielsen, P. & Christensen, J.
01/04/2014 → 31/10/2017
Project: Research