Pure-inertial AHRS with adaptive elimination of non-gravitational vehicle acceleration
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Pure-inertial AHRS with adaptive elimination of non-gravitational vehicle acceleration
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
Pure-inertial AHRS with adaptive elimination of non-gravitational vehicle acceleration
Popis výsledku anglicky
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.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
—
OECD FORD obor
20205 - Automation and control systems
Návaznosti výsledku
Projekt
—
Návaznosti
S - Specificky vyzkum na vysokych skolach
Ostatní
Rok uplatnění
2018
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
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
Počet stran výsledku
12
Strana od-do
696-707
Název nakladatele
IEEE
Místo vydání
Monterey, USA
Místo konání akce
Monterey, USA
Datum konání akce
23. 4. 2018
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
000435257800090