An Estimator for Attitude and Heading Reference Systems Based on Virtual Horizontal Reference

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

1 Citation (Scopus)

Resumé

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.
OriginalsprogEngelsk
TitelProceedings of 2016 American Control Conference
Antal sider7
ForlagAmerican Automatic Control Council
Publikationsdatojul. 2016
Sider5504 - 5510
ISBN (Elektronisk)978-1-4673-8682-1
DOI
StatusUdgivet - jul. 2016
Begivenhed 2016 American Control Conference - Boston Marriott Copley Place, Boston, MA, USA
Varighed: 6 jul. 20168 jul. 2016
http://acc2016.a2c2.org/

Konference

Konference 2016 American Control Conference
Lokation Boston Marriott Copley Place
LandUSA
ByBoston, MA
Periode06/07/201608/07/2016
Internetadresse

Fingerprint

Accelerometers
Hardware

Citer dette

Wang, Y., Soltani, M., & Hussain, D. M. A. (2016). An Estimator for Attitude and Heading Reference Systems Based on Virtual Horizontal Reference. I Proceedings of 2016 American Control Conference (s. 5504 - 5510). American Automatic Control Council. https://doi.org/10.1109/ACC.2016.7526533
Wang, Yunlong ; Soltani, Mohsen ; Hussain, Dil muhammed Akbar. / An Estimator for Attitude and Heading Reference Systems Based on Virtual Horizontal Reference. Proceedings of 2016 American Control Conference. American Automatic Control Council, 2016. s. 5504 - 5510
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title = "An Estimator for Attitude and Heading Reference Systems Based on Virtual Horizontal Reference",
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.",
keywords = "Quaternions, Accelerometers, Micromechanical devices, Estimation, Magnetometers, Sensors, Hardware",
author = "Yunlong Wang and Mohsen Soltani and Hussain, {Dil muhammed Akbar}",
year = "2016",
month = "7",
doi = "10.1109/ACC.2016.7526533",
language = "English",
pages = "5504 -- 5510",
booktitle = "Proceedings of 2016 American Control Conference",
publisher = "American Automatic Control Council",

}

Wang, Y, Soltani, M & Hussain, DMA 2016, An Estimator for Attitude and Heading Reference Systems Based on Virtual Horizontal Reference. i Proceedings of 2016 American Control Conference. American Automatic Control Council, s. 5504 - 5510, 2016 American Control Conference, Boston, MA, USA, 06/07/2016. https://doi.org/10.1109/ACC.2016.7526533

An Estimator for Attitude and Heading Reference Systems Based on Virtual Horizontal Reference. / Wang, Yunlong; Soltani, Mohsen; Hussain, Dil muhammed Akbar.

Proceedings of 2016 American Control Conference. American Automatic Control Council, 2016. s. 5504 - 5510.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

TY - GEN

T1 - An Estimator for Attitude and Heading Reference Systems Based on Virtual Horizontal Reference

AU - Wang, Yunlong

AU - Soltani, Mohsen

AU - Hussain, Dil muhammed Akbar

PY - 2016/7

Y1 - 2016/7

N2 - 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.

AB - 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.

KW - Quaternions

KW - Accelerometers

KW - Micromechanical devices

KW - Estimation

KW - Magnetometers

KW - Sensors

KW - Hardware

U2 - 10.1109/ACC.2016.7526533

DO - 10.1109/ACC.2016.7526533

M3 - Article in proceeding

SP - 5504

EP - 5510

BT - Proceedings of 2016 American Control Conference

PB - American Automatic Control Council

ER -

Wang Y, Soltani M, Hussain DMA. An Estimator for Attitude and Heading Reference Systems Based on Virtual Horizontal Reference. I Proceedings of 2016 American Control Conference. American Automatic Control Council. 2016. s. 5504 - 5510 https://doi.org/10.1109/ACC.2016.7526533