4.6 Article

Research on Gradient-Descent Extended Kalman Attitude Estimation Method for Low-Cost MARG

Related references

Note: Only part of the references are listed.
Article Engineering, Electrical & Electronic

Improved MEMS Magnetometer Adaptive Filter Noise Reduction and Compensation Method

Zhiwen Ning et al.

Summary: This paper proposes an adaptive real-time filtering noise reduction and comprehensive error interference compensation method to improve the performance of the integrated navigation system. By constructing the measurement noise model and updating parameters, using an adaptive filtering algorithm to perform offline noise reduction on the output data of the magnetometer, and compensating for magnetic field interference using the noise-reduced data, the experimental results show that this method has a good effect and can improve the accuracy of the magnetometer's heading calculation.

IEEE SENSORS JOURNAL (2022)

Article Chemistry, Analytical

An Open-Source Test Environment for Effective Development of MARG-Based Algorithms

Akos Odry

Summary: This paper presents an open-source environment for developing, tuning, and evaluating MARG-based filters, including a 6 DOF test bench for simulating various scenarios and supporting real data acquisition. The database provided fosters effective analysis of sensor fusion algorithms, highlighting practical advantages.

SENSORS (2021)

Article Engineering, Multidisciplinary

A comprehensive strapdown triaxial magnetometer calibration method considering temporal misalignment error

Jihao Liu et al.

Summary: The proposed comprehensive calibration method effectively enhances the measurement accuracy of strapdown triaxial magnetometers by overcoming temporal misalignment errors, inherent errors, and vehicle-generated magnetic inferences. Simulation and experimental results demonstrated a significant improvement in magnetic field component values compared to traditional methods.

MEASUREMENT (2021)

Article Chemistry, Analytical

Error Analysis of Accelerometer- and Magnetometer-Based Stationary Alignment

Felipe O. Silva et al.

Summary: This paper presents a detailed error analysis for four representative stationary attitude determination methods in AHRSs, considering biases in accelerometer and magnetometer measurements, as well as systematic errors in local gravity and Earth magnetic field models. The contributions include novel closed-form formulas for residual errors in computed Direction Cosine Matrices, providing analytical insight into the problem and allowing for proper comparison of alignment formulations. The proposed error analysis is validated through simulation and experimental results.

SENSORS (2021)

Article Computer Science, Information Systems

TDMA Datalink Cooperative Navigation Algorithm Based on INS/JTIDS/BA

Shuo Cao et al.

Summary: This paper presents a TDMA datalink cooperative navigation algorithm that corrects errors in the inertial navigation system and determines altitude using a height filter. The algorithm estimates errors using various measurements and predicted states and improves positioning accuracy through analysis of weighted horizontal geometric dilution of precision and cooperative measurements. Simulation results show that the proposed algorithm outperforms an EKF processing TOA measurements sequentially and a TDMA datalink navigation algorithm without cooperative measurements.

ELECTRONICS (2021)

Article Geochemistry & Geophysics

M-estimator for the 3D symmetric Helmert coordinate transformation

Guobin Chang et al.

JOURNAL OF GEODESY (2018)

Article Engineering, Electrical & Electronic

A Super Fast Attitude Determination Algorithm for Consumer-Level Accelerometer and Magnetometer

Jin Wu et al.

IEEE TRANSACTIONS ON CONSUMER ELECTRONICS (2018)

Article Automation & Control Systems

Indirect Kalman Filtering Based Attitude Estimation for Low-Cost Attitude and Heading Reference Systems

Lubin Chang et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2017)

Article Automation & Control Systems

UAV State Estimation Using Adaptive Complementary Filters

Panos Marantos et al.

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY (2016)

Editorial Material Robotics

Quaternion-based Kalman Filter for AHRS Using an Adaptive-step Gradient Descent Algorithm

Li Wang et al.

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS (2015)

Article Engineering, Electrical & Electronic

Geo-referencing naturalistic driving data using a novel method based on vehicle speed

Jose Balsa-Barreiro et al.

IET INTELLIGENT TRANSPORT SYSTEMS (2013)

Article Automation & Control Systems

Nonlinear complementary filters on the special orthogonal group

Robert Mahony et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2008)

Article Engineering, Electrical & Electronic

A simplified quaternion-based algorithm for orientation estimation from earth gravity and magnetic field measurements

Xiaoping Yuri et al.

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT (2008)

Article Engineering, Biomedical

Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing

Angelo M. Sabatini

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING (2006)