Maneuvering acceleration assisted attitude algorithm design based on fuzzy adaptive Kalman filter

Wen Li; Qingdong Li; Yao Fan; Zhang Ren

doi:10.1109/CGNCC.2014.7007414

Maneuvering acceleration assisted attitude algorithm design based on fuzzy adaptive Kalman filter

Wen Li
, Qingdong Li^*
, Yao Fan
, Zhang Ren

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Problems that accelerometers have wrong correction on horizontal attitude of maneuvering aircraft and that noise statistical properties change with the actual working conditions in low accuracy Attitude and Heading Reference System (AHRS), are investigated in this paper. Firstly, the maneuvering acceleration is described with current statistical model. Secondly, a 9-state EKF is introduced with 9 states of three attitude angles error, triaxial gyro bias error and triaxial maneuvering acceleration error. The observations include triaxial acceleration error. Finally, the proposed algorithm is designed based on fuzzy adaptive Kalman filter, which estimates and modifies parameters of observation model. Simulation results demonstrate that the data fusion and filtering methods are valid for horizontal attitude optimal estimation in low accuracy AHRS.

Original language	English
Title of host publication	2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1501-1505
Number of pages	5
ISBN (Electronic)	9781479946990
DOIs	https://doi.org/10.1109/CGNCC.2014.7007414
State	Published - 12 Jan 2015
Event	6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 - Yantai, China Duration: 8 Aug 2014 → 10 Aug 2014

Publication series

Name	2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

Conference

Conference	6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Country/Territory	China
City	Yantai
Period	8/08/14 → 10/08/14

Access to Document

10.1109/CGNCC.2014.7007414

Cite this

Li, W., Li, Q., Fan, Y., & Ren, Z. (2015). Maneuvering acceleration assisted attitude algorithm design based on fuzzy adaptive Kalman filter. In 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 (pp. 1501-1505). Article 7007414 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CGNCC.2014.7007414

Li, Wen ; Li, Qingdong ; Fan, Yao et al. / Maneuvering acceleration assisted attitude algorithm design based on fuzzy adaptive Kalman filter. 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1501-1505 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014).

@inproceedings{5b88627f2df549ab9a4bf19d9ef3a3a7,

title = "Maneuvering acceleration assisted attitude algorithm design based on fuzzy adaptive Kalman filter",

abstract = "Problems that accelerometers have wrong correction on horizontal attitude of maneuvering aircraft and that noise statistical properties change with the actual working conditions in low accuracy Attitude and Heading Reference System (AHRS), are investigated in this paper. Firstly, the maneuvering acceleration is described with current statistical model. Secondly, a 9-state EKF is introduced with 9 states of three attitude angles error, triaxial gyro bias error and triaxial maneuvering acceleration error. The observations include triaxial acceleration error. Finally, the proposed algorithm is designed based on fuzzy adaptive Kalman filter, which estimates and modifies parameters of observation model. Simulation results demonstrate that the data fusion and filtering methods are valid for horizontal attitude optimal estimation in low accuracy AHRS.",

author = "Wen Li and Qingdong Li and Yao Fan and Zhang Ren",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 ; Conference date: 08-08-2014 Through 10-08-2014",

year = "2015",

month = jan,

day = "12",

doi = "10.1109/CGNCC.2014.7007414",

language = "英语",

series = "2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1501--1505",

booktitle = "2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014",

address = "美国",

}

Li, W, Li, Q, Fan, Y & Ren, Z 2015, Maneuvering acceleration assisted attitude algorithm design based on fuzzy adaptive Kalman filter. in 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014., 7007414, 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 1501-1505, 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014, Yantai, China, 8/08/14. https://doi.org/10.1109/CGNCC.2014.7007414

Maneuvering acceleration assisted attitude algorithm design based on fuzzy adaptive Kalman filter. / Li, Wen; Li, Qingdong; Fan, Yao et al.
2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1501-1505 7007414 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Maneuvering acceleration assisted attitude algorithm design based on fuzzy adaptive Kalman filter

AU - Li, Wen

AU - Li, Qingdong

AU - Fan, Yao

AU - Ren, Zhang

PY - 2015/1/12

Y1 - 2015/1/12

N2 - Problems that accelerometers have wrong correction on horizontal attitude of maneuvering aircraft and that noise statistical properties change with the actual working conditions in low accuracy Attitude and Heading Reference System (AHRS), are investigated in this paper. Firstly, the maneuvering acceleration is described with current statistical model. Secondly, a 9-state EKF is introduced with 9 states of three attitude angles error, triaxial gyro bias error and triaxial maneuvering acceleration error. The observations include triaxial acceleration error. Finally, the proposed algorithm is designed based on fuzzy adaptive Kalman filter, which estimates and modifies parameters of observation model. Simulation results demonstrate that the data fusion and filtering methods are valid for horizontal attitude optimal estimation in low accuracy AHRS.

AB - Problems that accelerometers have wrong correction on horizontal attitude of maneuvering aircraft and that noise statistical properties change with the actual working conditions in low accuracy Attitude and Heading Reference System (AHRS), are investigated in this paper. Firstly, the maneuvering acceleration is described with current statistical model. Secondly, a 9-state EKF is introduced with 9 states of three attitude angles error, triaxial gyro bias error and triaxial maneuvering acceleration error. The observations include triaxial acceleration error. Finally, the proposed algorithm is designed based on fuzzy adaptive Kalman filter, which estimates and modifies parameters of observation model. Simulation results demonstrate that the data fusion and filtering methods are valid for horizontal attitude optimal estimation in low accuracy AHRS.

UR - https://www.scopus.com/pages/publications/84922569095

U2 - 10.1109/CGNCC.2014.7007414

DO - 10.1109/CGNCC.2014.7007414

M3 - 会议稿件

AN - SCOPUS:84922569095

T3 - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

SP - 1501

EP - 1505

BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

Y2 - 8 August 2014 through 10 August 2014

ER -

Li W, Li Q, Fan Y, Ren Z. Maneuvering acceleration assisted attitude algorithm design based on fuzzy adaptive Kalman filter. In 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1501-1505. 7007414. (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014). doi: 10.1109/CGNCC.2014.7007414

Maneuvering acceleration assisted attitude algorithm design based on fuzzy adaptive Kalman filter

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