Combined Quaternion-Based Error State Kalman Filtering and Smooth Variable Structure Filtering for Robust Attitude Estimation

Combined Quaternion-Based Error State Kalman Filtering and Smooth Variable Structure Filtering for Robust Attitude Estimation

This paper presents a novel robust quaternion-based error state Kalman filter (ESKF) for coping with modeling uncertainty in inertial measurement unit (IMU)-based attitude estimation. The smooth variable structure filter (SVSF) has recently been proposed and proven to be robust to modeling uncertain...

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Bibliographic Details
Main Authors: Wonkeun Youn, Stephen Andrew Gadsden
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Attitude estimation
error state Kalman filter
inertial measurement units
modeling uncertainty
quaternion
smooth variable structure filter
Online Access:https://ieeexplore.ieee.org/document/8865091/

Internet

https://ieeexplore.ieee.org/document/8865091/

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