scholarly journals Weight Self-Adjustment Adams Implicit Filtering Algorithm for Attitude Estimation Applied to Underwater Gliders

IEEE Access ◽  
2016 ◽  
Vol 4 ◽  
pp. 5695-5709 ◽  
Author(s):  
Haoqian Huang ◽  
Xiyuan Chen ◽  
Jiajin Zhang
Keyword(s):  
Attitude Estimation ◽  
Implicit Filtering ◽  
Filtering Algorithm ◽  
Underwater Gliders

scholarly journals Attitude Estimation Algorithm of Portable Mobile Robot Based on Complementary Filter

Micromachines ◽  
2021 ◽  
Vol 12 (11) ◽  
pp. 1373
Author(s):  
Mei Liu ◽  
Yuanli Cai ◽  
Lihao Zhang ◽  
Yiqun Wang
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Computational Cost ◽  
Attitude Estimation ◽  
Estimation Accuracy ◽  
Measurement Unit ◽  
Attitude Motion ◽  
Extended Kalman Filtering ◽  
Filtering Algorithm ◽  
Complementary Filter

In robot inertial navigation systems, to deal with the problems of drift and noise in the gyroscope and accelerometer and the high computational cost when using extended Kalman filter (EKF) and particle filter (PF), a complementary filtering algorithm is utilized. By combining the Inertial Measurement Unit (IMU) multi-sensor signals, the attitude data are corrected, and the high-precision attitude angles are obtained. In this paper, the quaternion algorithm is used to describe the attitude motion, and the process of attitude estimation is analyzed in detail. Moreover, the models of the sensor and system are given. Ultimately, the attitude angles are estimated by using the quaternion extended Kalman filter, linear complementary filter, and Mahony complementary filter, respectively. The experimental results show that the Mahony complementary filtering algorithm has less computational cost than the extended Kalman filtering algorithm, while the attitude estimation accuracy of these two algorithms is similar, which reveals that Mahony complementary filtering is more suitable for low-cost embedded systems.

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