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dc.contributor.authorMunguía Alcalá, Rodrigo Francisco
dc.contributor.authorGrau Saldes, Antoni
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2014-09-04T08:25:22Z
dc.date.available2014-09-04T08:25:22Z
dc.date.created2014-04-15
dc.date.issued2014-04-15
dc.identifier.citationMunguía, R.F.; Grau, A. A practical method for implementing an attitude and heading reference system. "International journal of advanced robotic systems", 15 Abril 2014, vol. 11, núm. 62, p. 1-12.
dc.identifier.issn1729-8806
dc.identifier.urihttp://hdl.handle.net/2117/23980
dc.description.abstractThis paper describes a practical and reliable algorithm for implementing an Attitude and Heading Reference System (AHRS). This kind of system is essential for real time vehicle navigation, guidance and control applications. When low cost sensors are used, efficient and robust algorithms are required for performance to be acceptable. The proposed method is based on an Extended Kalman Filter (EKF) in a direct configuration. In this case, the filter is explicitly derived from both the kinematic and rror models. The selection of this kind of EKF configuration can help in ensuring a tight integration of the method for its use in filter-based localization and mapping systems in autonomous vehicles. Experiments with real data show that the proposed method is able to maintain an accurate and drift-free attitude and heading estimation. An additional result is to show that there is no ostensible reason for preferring that the filter have an indirect configuration over a direct configuration for implementing an AHRS system.
dc.format.extent12 p.
dc.language.isoeng
dc.rightsAttribution 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica::Mecatrònica
dc.subject.lcshKalman filtering
dc.subject.lcshMultisensor data fusion
dc.subject.otherAttitude estimation
dc.subject.otherSensor fusion
dc.subject.otherVehicle navigation
dc.subject.otherInertial measurement
dc.titleA practical method for implementing an attitude and heading reference system
dc.typeArticle
dc.subject.lemacKalman, Filtratge de
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.5772/58463
dc.relation.publisherversionhttp://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/a-practical-method-for-implementing-an-attitude-and-heading-reference-system
dc.rights.accessOpen Access
local.identifier.drac14134250
dc.description.versionPostprint (published version)
local.citation.authorMunguía, R.F.; Grau, A.
local.citation.publicationNameInternational journal of advanced robotic systems
local.citation.volume11
local.citation.number62
local.citation.startingPage1
local.citation.endingPage12


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