Invariant observer design of attitude and heading reference system
Martin BARCZYK
摘要：An attitude and heading reference system (AHRS) is a nonlinear state estimator unit for computing orientation in 3D space.This paper designs an AHRS using three approaches:an invariant observer,an invariant extended Kalman filter (IEKF),and a conventional extended Kalman filter (EKF).The three designs are validated in experiment versus a ground truth,demonstrating the practical interest of the invariant observer methodology and the advantage of the IEKF over the EKF under model uncertainty.
机标关键词：
论文发表日期：2019-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：13( 228-240 )
英文信息