A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots

A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots

This paper proposes a novel fuzzy-adaptive extended Kalman filter (FAEKF) for the real-time attitude estimation of agile mobile platforms equipped with magnetic, angular rate, and gravity (MARG) sensor arrays. The filter structure employs both a quaternion-based EKF and an adaptive extension, in whi...

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Bibliographic Details
Main Authors: Ákos Odry, Istvan Kecskes, Peter Sarcevic, Zoltan Vizvari, Attila Toth, Péter Odry
Format: Article
Language:English
Published: MDPI AG 2020-02-01
Series:Sensors
Subjects:
adaptive filter
attitude estimation
fuzzy logic
inertial measurement unit
extended kalman filter
sensor fusion
Online Access:https://www.mdpi.com/1424-8220/20/3/803

Internet

https://www.mdpi.com/1424-8220/20/3/803

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