Algorithms for heading determination using inertial sensors

• Autorzy: Reinstein M. , Rohac J. , Sipos M.

Warianty tytułu

PL

Algorytmy określania kursu nawigacji przy wykorzystaniu czujników inercyjnych

• Języki publikacji: EN

Abstrakty

EN

This paper describes the results of comparison analysis regarding three algorithms for heading determination using low-cost inertial sensors: the stand-alone strapdown approach, magnetometer aiding approach, and strapdown approach with errors modelled, estimated and compensated using Kalman filtering. Experimental testing with precise rotational tilt platform was performed. Error analysis was carried out to qualitatively evaluate the best approach intended for implementation into unmanned aerial systems for navigation purposes.

PL

W artykule przedstawiono analizę porównawczą trzech algorytmów szukania kursu nawigacji przy wykorzystaniu czujników inercyjnych: system strapdown, system ze wspomaganiem przez magnetometr, system strapdown z z kompensacją błędu przy wykorzystaniu filtru Kalmana. Przeprowadzono eksperymenty przy wykorzystaniu precyzyjnej platformy z możliwością nastawiania kąta. Oceniono błędy metody.

Słowa kluczowe

EN

Kalman filter; inertial navigation; complementary filtering

PL

kurs nawigacji; filtr Kalmana

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2010
• Tom: R. 86, nr 9
• Strony: 243--246
• Opis fizyczny: Bibliogr. 22 poz., il., wykr.

Twórcy

autor

Reinstein M.

autor

Rohac J.

autor

Sipos M.

• Czech Technical University in Prague, Technická 2, 166 27 Prague, Czech Republic,

Bibliografia

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