Low-cost inertial estimation unit based on extended Kalman filtering
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F10%3A00172588" target="_blank" >RIV/68407700:21230/10:00172588 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Low-cost inertial estimation unit based on extended Kalman filtering
Original language description
The paper describes some design and implementation aspects of a low-cost inertial estimation unit based on comercially available inertial sensors (3-axis rate gyro combined in a single package with a 3-axis accelerometer and a 3-axis magnetometer). The data measured by the three sensors are fused using the Extended Kalman filtering paradigm. No model of the dynamics of the carrier (aircraft, mobile robot) is relied upon, the only modeled dynamics is that of sensors, such as the bias and noise. The choice of extended Kalman filtering methodology was dictated by strong requirements on computational simplicity. Some experience with implementation of the proposed scheme on a digital hardware (ARM7 based microcontroller) is shared in the paper. Finally, functionality of the presented device is demonstrated in experiments. Besides simple indoor tests, fly experiments were conducted using a small UAV helicopter.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JB - Sensors, detecting elements, measurement and regulation
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Automatic Target Recognition XX; Acquisition, Tracking, Pointing, and Laser Systems Technologies XXIV; and Optical Pattern Recognition XXI,
ISBN
978-0-8194-8160-3
ISSN
0277-786X
e-ISSN
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Number of pages
10
Pages from-to
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Publisher name
SPIE
Place of publication
Bellingham (stát Washington)
Event location
Orlando
Event date
Apr 5, 2010
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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