کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
699942 | 890814 | 2010 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Design and implementation of a low-cost observer-based attitude and heading reference system
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
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چکیده انگلیسی
A nonlinear observer (i.e. a “filter”) is proposed for estimating the attitude of a flying rigid body, using measurements from low-cost inertial and magnetic sensors. It has by design a nice geometrical structure appealing from an engineering viewpoint; it is easy to tune, computationally very thrifty, and with guaranteed (at least local) convergence around every trajectory. Moreover it behaves sensibly in the presence of acceleration and magnetic disturbances.Experimental comparisons with a commercial device illustrate its good performance; an implementation on an 8-bit microcontroller with very limited processing power demonstrates its computational simplicity.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 18, Issue 7, July 2010, Pages 712–722
Journal: Control Engineering Practice - Volume 18, Issue 7, July 2010, Pages 712–722
نویسندگان
Philippe Martin, Erwan Salaün,