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An attitude and heading reference system (AHRS) based in a dual filter
dc.contributor.author | Munguía Alcalá, Rodrigo Francisco |
dc.contributor.author | Grau Saldes, Antoni |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2012-03-20T14:37:05Z |
dc.date.available | 2012-03-20T14:37:05Z |
dc.date.created | 2011 |
dc.date.issued | 2011 |
dc.identifier.citation | Munguia, R.; Grau, A. An attitude and heading reference system (AHRS) based in a dual filter. A: IEEE International Conference on Emerging Technologies and Factory Automation. "16th IEEE International Conference on Emerging Techonologies and Factory Automation (EFTA'11) Proceedings". Toulouse: IEEE Press. Institute of Electrical and Electronics Engineers, 2011, p. 1-8. |
dc.identifier.isbn | 978-1-4577-0017-0 |
dc.identifier.uri | http://hdl.handle.net/2117/15619 |
dc.description.abstract | This paper describes the design, analysis, and experimental results of an Attitude and Heading System based on a Dual Kalman Filtering technique. The presented scheme is suitable for implementation using low cost sensors. Attitude determination systems are essential for real time vehicle navigation, guidance and control applications. When low cost sensors are used, efficient and robust algorithms become necessary for an acceptable performance. For the proposed approach, a low cost Inertial Measurement Unit (IMU), formed by 3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer, provides the input measurements. Experimental results with real data show that the proposed algorithm is able to maintain an accurate and drift-free attitude and heading estimation. |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.publisher | IEEE Press. Institute of Electrical and Electronics Engineers |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial |
dc.subject.lcsh | Kalman fitlering |
dc.subject.lcsh | Aircraft instrumentation |
dc.subject.lcsh | Magnetometers |
dc.subject.lcsh | Inertial navigation |
dc.subject.lcsh | Attitude and heading reference system |
dc.title | An attitude and heading reference system (AHRS) based in a dual filter |
dc.type | Conference lecture |
dc.subject.lemac | Kalman, Filtratge de |
dc.subject.lemac | Navegació -- Inèrcia (Mecànica) |
dc.subject.lemac | Sistemes de referència d'actitut i rumb |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1109/ETFA.2011.6059089 |
dc.description.peerreviewed | Peer Reviewed |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 9644215 |
dc.description.version | Postprint (published version) |
local.citation.author | Munguia, R.; Grau, A. |
local.citation.contributor | IEEE International Conference on Emerging Technologies and Factory Automation |
local.citation.pubplace | Toulouse |
local.citation.publicationName | 16th IEEE International Conference on Emerging Techonologies and Factory Automation (EFTA'11) Proceedings |
local.citation.startingPage | 1 |
local.citation.endingPage | 8 |