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A practical method for implementing an attitude and heading reference system

Autor
Munguia, R.F.; Grau, A.
Tipus d'activitat
Article en revista
Revista
International journal of advanced robotic systems
Data de publicació
2014-04-15
Volum
11
Número
62
Pàgina inicial
1
Pàgina final
12
DOI
https://doi.org/10.5772/58463 Obrir en finestra nova
Projecte finançador
Cooperación Robots Humanos en Àreas Urbanas
Repositori
http://hdl.handle.net/2117/23980 Obrir en finestra nova
URL
http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/a-practical-method-for-implementing-an-attitude-and-heading-reference-system Obrir en finestra nova
Resum
This 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...
Citació
Munguía, 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.
Paraules clau
Attitude Estimation, Sensor Fusion, Vehicle Navigation, Inertial Measurement, Kalman Filtering
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

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