Pure-inertial AHRS with adaptive elimination of non-gravitational vehicle acceleration

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F18%3A43952494" target="_blank" >RIV/49777513:23520/18:43952494 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/PLANS.2018.8373445" target="_blank" >https://doi.org/10.1109/PLANS.2018.8373445</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/PLANS.2018.8373445" target="_blank" >10.1109/PLANS.2018.8373445</a>

Result language

angličtina

Original language name

Pure-inertial AHRS with adaptive elimination of non-gravitational vehicle acceleration

Original language description

Among the critical features of the Attitude and Heading Reference System (AHRS) is its ability to deal with an external, non-gravitational vehicle acceleration. When present, vehicle’s acceleration becomes an inherent part of the accelerometer measurements, hindering them from being used for the direct estimation of the attitude. Reliable mitigation of the non-gravitational acceleration is of high importance, especially in the class of pure inertial AHRS systems, where the attitude of the vehicle is determined solely by use of inertial and magnetic field measurements, without any global navigation satellite system (GNSS) aiding. In this paper the design and performance of a new and computationally efficient pure inertial AHRS, based on extended Kalman filter state estimator, is proposed and experimentally illustrated. The design is based on the explicit incorporation of non-gravitational acceleration into the filter process model and on the adaptive on-line tuning of model parameters, reflecting the actual dynamics of the vehicle. Compared to the state-of-the-art AHRS designs, the proposed AHRS processes all the measurements available, regardless of the actual dynamics of the vehicle. The proposed AHRS is, therefore, suitable for modern high-integrity complex navigation solutions, particularly as a stand-alone back-up solution in GNSS-denied environments.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

20205 - Automation and control systems

Project

—

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2018

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of the 2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018

ISBN

978-1-5386-1647-5

ISSN

2153-358X

e-ISSN

2153-3598

Number of pages

12

Pages from-to

696-707

Publisher name

IEEE

Place of publication

Monterey, USA

Event location

Monterey, USA

Event date

Apr 23, 2018

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000435257800090