A Novel Approach for Attitude Estimation Based on MEMS Inertial Sensors Using Nonlinear Complementary Filters

In this paper, a new method for attitude estimation using low-cost micro-electro-mechanical system (MEMS) inertial sensors is developed, in order to obtain accurate attitude parameters when other external sensors, such as the magnetometer and GPS, are limited in operation. The method is based on specific rotation of the inertial measurement unit, which is independent from rigid body motion. The problem of heading angles estimation using just inertial sensors without incorporating additional sensors is studied. An algorithm is developed by incorporating a nonlinear observer in order to fuse measurements from both the gyroscope and the accelerometers. The algorithm provides bias estimation of the gyroscope and better estimation results. Both numerical simulations and real experiments validate the effectiveness of the proposed method.

[1]  Marco Carminati,et al.  Real-Time Data Fusion and MEMS Sensors Fault Detection in an Aircraft Emergency Attitude Unit Based on Kalman Filtering , 2012, IEEE Sensors Journal.

[2]  Minh-Duc Hua.  Contributions to the automatic control of aerial vehicles , 2009 .

[3]  Robert E. Mahony,et al.  Implementation of a Nonlinear Attitude Estimator for Aerial Robotic Vehicles , 2014, IEEE Transactions on Control Systems Technology.

[4]  Carlos Silvestre,et al.  Discrete-Time Complementary Filters for Attitude and Position Estimation: Design, Analysis and Experimental Validation , 2011, IEEE Transactions on Control Systems Technology.

[5]  H. D. Black,et al.  A passive system for determining the attitude of a satellite , 1964 .

[6]  Rong Zhu,et al.  A Small Low-Cost Hybrid Orientation System and Its Error Analysis , 2009, IEEE Sensors Journal.

[7]  Flor Lizeth Torres Ortiz,et al.  A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors , 2013, Sensors.

[8]  Jinhui Lan,et al.  Constrained Filtering Method for MAV Attitude Determination , 2005, 2005 IEEE Instrumentationand Measurement Technology Conference Proceedings.

[9]  Mehrzad Namvar,et al.  Adaptive Compensation of Gyro Bias in Rigid-Body Attitude Estimation Using a Single Vector Measurement , 2013, IEEE Transactions on Automatic Control.

[10]  Yuan Yan Tang,et al.  A Robust Inclinometer System With Accurate Calibration of Tilt and Azimuth Angles , 2013, IEEE Sensors Journal.

[11]  Pierre Falzon,et al.  Institut national de recherche en informatique et en automatique , 1992 .

[12]  Robert E. Mahony,et al.  Nonlinear attitude observers on SO(3) for complementary and compatible measurements: A theoretical study , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[13]  Alireza Khosravian,et al.  Rigid Body Attitude Control Using a Single Vector Measurement and Gyro , 2012, IEEE Transactions on Automatic Control.

[14]  N. Marchand,et al.  A low-cost air data attitude heading reference system for the tourism airplane applications , 2005, IEEE Sensors, 2005..

[15]  Y. Suh.  A Smoother for Attitude and Position Estimation Using Inertial Sensors With Zero Velocity Intervals , 2012, IEEE Sensors Journal.

[16]  Noureddine Manamanni,et al.  A Nonlinear Filtering Approach for the Attitude and Dynamic Body Acceleration Estimation Based on Inertial and Magnetic Sensors: Bio-Logging Application , 2011, IEEE Sensors Journal.

[17]  Tor Arne Johansen,et al.  Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors , 2012, IEEE Transactions on Automatic Control.

[18]  Weibin Yang,et al.  Accurate Tilt Sensing With Linear Model , 2011, IEEE Sensors Journal.

[19]  Peter I. Corke,et al.  Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor , 2012, IEEE Robotics & Automation Magazine.

[20]  Philippe Martin,et al.  The true role of accelerometer feedback in quadrotor control , 2010, 2010 IEEE International Conference on Robotics and Automation.

[21]  J. Takala,et al.  Bias Prediction for MEMS Gyroscopes , 2012, IEEE Sensors Journal.

[22]  Minh-Duc Hua.  Attitude estimation for accelerated vehicles using GPS/INS measurements , 2010 .

[23]  L. Latorre,et al.  A Fully Integrated Inertial Measurement Unit: Application to Attitude and Heading Determination , 2011, IEEE Sensors Journal.