LAUSR.org creates dashboard-style pages of related content for over 1.5 million academic articles. Sign Up to like articles & get recommendations!

An Observation Model From Linear Interpolation for Quaternion-Based Attitude Estimation

Photo by thinkmagically from unsplash

This article aims to solve multiple problems associated with attitude estimation; the complexity of Kalman filter (KF) calculations in the attitude and heading reference system (AHRS), the interference sensitivity of… Click to show full abstract

This article aims to solve multiple problems associated with attitude estimation; the complexity of Kalman filter (KF) calculations in the attitude and heading reference system (AHRS), the interference sensitivity of magnetic, angular rate, and gravity (MARG) sensors, and the low accuracy of the factored quaternion algorithm (FQA). It presents a two-layer linear KF using MARG sensors to obtain attitude estimation in quaternions. First, data from a triaxial accelerometer and magnetometer is processed by a novel algorithm, which fuses the quaternion estimator (QUEST) algorithm and FQA by the linear interpolation (LERP) to obtain an observation model. Second, the process model in the two-layer KF was obtained by using LERP to fuse an optimum quaternion obtained from a gyroscope and FQA. The LERP can eliminate gyro bias drift, and integral error, and compensate for unexpected conditions, such as fast rotation and temporary strong magnetic disturbances. The proposed algorithm presents higher accuracy and lower computational load than QUEST or FQA used with a KF alone. The performance of the proposed algorithm is verified through simulation and experiments.

Keywords: observation model; quaternion; linear interpolation; attitude estimation

Journal Title: IEEE Transactions on Instrumentation and Measurement
Year Published: 2023

Link to full text (if available)


Share on Social Media:                               Sign Up to like & get
recommendations!

Related content

More Information              News              Social Media              Video              Recommended



                Click one of the above tabs to view related content.