A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors

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Abstract

In this paper, a nonlinear attitude estimator is designed for an Attitude Heading and Reference System (AHRS) based on Micro Electro-Mechanical Systems (MEMS) sensors. The design process of the attitude estimator is stated with detail, and the equilibrium point of the estimator error model is proved to be asymptotically stable using LaSalle's invariance set theorem through limitation of the range of scalar element of quaternion without affecting practical use. Also, a new Lyapunov candidate function, satisfying continuously differentiable positive definite requirement, is presented to avoid the problems in previous research works. Moreover, the estimation of MEMS gyroscope bias is also inclueded in this estimator. The designed nonlinear attitude estimator is firstly tested in simulation environment and then implemented in an AHRS hardware for further experiments. Finally, the attitude estimation results from the designed AHRS are compared with a high-precision commercial AHRS to validate its estimation performance.
Original languageEnglish
Title of host publicationProceedings of SICE International Symposium on Control Systems (ISCS) 2016
Number of pages8
PublisherIEEE Press
Publication dateMar 2016
Pages23 - 30
Article number7470176
ISBN (Print)978-4-907764-53-1
DOIs
Publication statusPublished - Mar 2016
EventSICE International Symposium on Control Systems 2016 - Nanzan University, Nagoya, Japan
Duration: 7 Mar 201610 Mar 2016

Conference

ConferenceSICE International Symposium on Control Systems 2016
LocationNanzan University
CountryJapan
CityNagoya
Period07/03/201610/03/2016

Fingerprint

Sensors
Gyroscopes
Lyapunov functions
Invariance
Hardware
Experiments

Keywords

  • Nonlinear estimator
  • Attitude estimation
  • MEMS sensor

Cite this

Wang, Y., Soltani, M., & Hussain, D. M. A. (2016). A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors. In Proceedings of SICE International Symposium on Control Systems (ISCS) 2016 (pp. 23 - 30 ). [7470176] IEEE Press. https://doi.org/10.1109/SICEISCS.2016.7470176
Wang, Yunlong ; Soltani, Mohsen ; Hussain, Dil muhammed Akbar. / A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors. Proceedings of SICE International Symposium on Control Systems (ISCS) 2016 . IEEE Press, 2016. pp. 23 - 30
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title = "A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors",
abstract = "In this paper, a nonlinear attitude estimator is designed for an Attitude Heading and Reference System (AHRS) based on Micro Electro-Mechanical Systems (MEMS) sensors. The design process of the attitude estimator is stated with detail, and the equilibrium point of the estimator error model is proved to be asymptotically stable using LaSalle's invariance set theorem through limitation of the range of scalar element of quaternion without affecting practical use. Also, a new Lyapunov candidate function, satisfying continuously differentiable positive definite requirement, is presented to avoid the problems in previous research works. Moreover, the estimation of MEMS gyroscope bias is also inclueded in this estimator. The designed nonlinear attitude estimator is firstly tested in simulation environment and then implemented in an AHRS hardware for further experiments. Finally, the attitude estimation results from the designed AHRS are compared with a high-precision commercial AHRS to validate its estimation performance.",
keywords = "Nonlinear estimator, Attitude estimation, MEMS sensor",
author = "Yunlong Wang and Mohsen Soltani and Hussain, {Dil muhammed Akbar}",
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Wang, Y, Soltani, M & Hussain, DMA 2016, A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors. in Proceedings of SICE International Symposium on Control Systems (ISCS) 2016 ., 7470176, IEEE Press, pp. 23 - 30 , SICE International Symposium on Control Systems 2016, Nagoya, Japan, 07/03/2016. https://doi.org/10.1109/SICEISCS.2016.7470176

A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors. / Wang, Yunlong; Soltani, Mohsen; Hussain, Dil muhammed Akbar.

Proceedings of SICE International Symposium on Control Systems (ISCS) 2016 . IEEE Press, 2016. p. 23 - 30 7470176.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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Wang Y, Soltani M, Hussain DMA. A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors. In Proceedings of SICE International Symposium on Control Systems (ISCS) 2016 . IEEE Press. 2016. p. 23 - 30 . 7470176 https://doi.org/10.1109/SICEISCS.2016.7470176