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Amiri Atashgah, Mohammad-ali, Ebrahimi, Mehrdad, Mohammadkarimi, Hamed. (1402). A Robust Self-contained Solution for Inertial Attitude Determination Under External Acceleration. نشریه مهندسی عمران امیرکبیر, 55(1), 183-198. doi: 10.22060/miscj.2023.22582.5332
Mohammad-ali Amiri Atashgah; Mehrdad Ebrahimi; Hamed Mohammadkarimi. "A Robust Self-contained Solution for Inertial Attitude Determination Under External Acceleration". نشریه مهندسی عمران امیرکبیر, 55, 1, 1402, 183-198. doi: 10.22060/miscj.2023.22582.5332
Amiri Atashgah, Mohammad-ali, Ebrahimi, Mehrdad, Mohammadkarimi, Hamed. (1402). 'A Robust Self-contained Solution for Inertial Attitude Determination Under External Acceleration', نشریه مهندسی عمران امیرکبیر, 55(1), pp. 183-198. doi: 10.22060/miscj.2023.22582.5332
Amiri Atashgah, Mohammad-ali, Ebrahimi, Mehrdad, Mohammadkarimi, Hamed. A Robust Self-contained Solution for Inertial Attitude Determination Under External Acceleration. نشریه مهندسی عمران امیرکبیر, 1402; 55(1): 183-198. doi: 10.22060/miscj.2023.22582.5332

A Robust Self-contained Solution for Inertial Attitude Determination Under External Acceleration

AUT Journal of Modeling and Simulation
دوره 55، شماره 1، شهریور 2023، صفحه 183-198    اصل مقاله (2.9 M)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22060/miscj.2023.22582.5332
نویسندگان
Mohammad-ali Amiri Atashgah1؛ Mehrdad Ebrahimi1؛ Hamed Mohammadkarimi* 2
1Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran.
2Department of Aerospace Engineering, Amirkabir University of Technology, Tehran, Iran.
چکیده
One of the main issues in inertial navigation systems is attitude determination, which means estimating the level angles (i.e., roll and pitch). This paper investigates the attitude estimation problem for an accelerated rigid body using three gyros and three accelerometers. The most critical challenges in attitude determination systems are external accelerations and gyroscope drift errors. Thus, a novel method based on the adaptive filter-Kalman algorithm is proposed to estimate and compensate for these errors. Linearization was performed around a general work point, and the covariance matrix's adaptive values were obtained so that leveling angles were accurately determined despite external accelerations. The simulation results, along with the car test, which was performed in different dynamic conditions with external accelerations, showed that the introduced algorithm has a high capability in accurately estimating leveling angles. This approach can be used for GPS-less navigation Algorithms.
کلیدواژه‌ها
Attitude Determination؛ Adaptive Kalman Filtering؛ Inertial Navigation System؛ Attitude and heading Reference System؛ Self-contained Navigation Algorithm
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