ATTITUDE IMPROVEMENT AND ANGULAR RATE ESTIMATION USING A KALMAN FILTER WITH MEASUREMENTS OF FOUR TETRAHEDRALLY ARRANGED LOW COST MEMS GYROS | Zendy

Francisco Granziera Júnior | Zendy; Hélio Koiti Kuga | Zendy; Marcelo C. Tosin | Zendy

Open Access

ATTITUDE IMPROVEMENT AND ANGULAR RATE ESTIMATION USING A KALMAN FILTER WITH MEASUREMENTS OF FOUR TETRAHEDRALLY ARRANGED LOW COST MEMS GYROS

Author(s) -

Francisco Granziera Júnior,

Hélio Koiti Kuga,

Marcelo C. Tosin

Publication year - 2011

Publication title -

proceedings of the brazilian conference on dynamics control and their applications

Language(s) - English

Resource type - Conference proceedings

ISSN - 2178-3667

DOI - 10.5540/dincon.2011.001.1.0077

Subject(s) - kalman filter , angular velocity , extended kalman filter , monte carlo method , control theory (sociology) , convergence (economics) , filter (signal processing) , invariant extended kalman filter , computer science , fast kalman filter , attitude and heading reference system , physics , mathematics , computer vision , statistics , artificial intelligence , control (management) , quantum mechanics , economics , economic growth

This work presents the simulation of an angular velocity estimation system composed by four tetrahedrally arranged MEMS gyrometers. The timewise angular velocity of the sensor's readings are transformed to tri-orthogonal measurement sets by a pseudo-inverse matrix. A Kalman Filter utilizes periodically received attitude data to estimate the sensor's bias and also a new attitude. Also, the angular velocity readings are used to propagate the system's state until arrival of the next attitude information. The Kalman Filter estimation and propagation equations used in this process are presented in the paper. Also, a Monte Carlo simulation results are shown demonstrating the filter's convergence. This procedure will be implemented in an attitude determination device that will be integrated as an experiment aboard ITASAT-1 university satellite.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research