Abstract
This paper deals with accurate attitude estimation in unmanned ground vehicles using low-cost inertial measurement units. Using Euler angles representation, direct estimations are firstly performed from a single sensor, accelerometer or gyroscope. Then, the low frequency components of the first one and the high frequency components of the second one are fused through an explicit complementary filter (ECF), which uses the quaternion representation. A feedback control structure implements the ECF whose controller parameters determine the filter cut-off frequencies. Finally, a scheduling of controllers in the ECF structure overcomes the shortcomings of accelerometer direct estimation at low frequencies. It provides reliable attitude, although the vehicle movement is accelerated. Illustrative experiments are driven with a Traxxas Car equipped with an Ardupilot Mega 2.5 board.
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Rico-Azagra, J., Gil-Martínez, M., Rico-Azagra, R., Maisterra, P. (2016). Low-Cost Attitude Estimation for a Ground Vehicle. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_10
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DOI: https://doi.org/10.1007/978-3-319-27146-0_10
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