检索结果-内蒙古大学图书馆

Design and implementation of an adaptive unscented Kalman filter with interval Type-3 fuzzy set for an attitude and heading reference system considering gyroscope bias

引用

MECHANICAL systemS AND SIGNAL PROCESSING 2025年 223卷

作者： Faraji, Javad Keighobadi, Jafar Janabi-Sharifi, Farrokh Univ Tabriz Dept Mech Engn Tabriz *** Iran Toronto Metropolitan Univ Dept Mech & Ind Engn Toronto ON M5B 2K3 Canada Ryerson Univ Toronto ON Canada

Low-cost microelectromechanical sensors used in attitude and heading reference systems (AHRS) suffer from unstable on-off biases, scaling errors, and nonlinearities that lead to an increase of navigation errors over time. To damp these errors and uncertainties from ultimate attitude and heading angles, the bias term of gyroscopes is augemented in under estimation state vector for high frequency feedback compensation. In this paper, an adaptive estimation algorithm to combine the strong tracking filter (STF) and interval type-3 fuzzy set (IT3FS) with an unscented Kalman filter (UKF) is proposed to deal with the large uncertainties in the microelectromechanical AHRS. The UKF, involving strong capability of dealing with nonlinearity, is limited by large instable bias uncertainty. By combining the STF to adaptively tuning of the UKF gain matrix and the IT3FS to determine the STF fading factor as well, the new IT3FS-STUKF algorithm is developed for high estimation performance against the significant uncertainties. To validate the proposed IT3FS-STUKF, real experiments are conducted with ground vehicles in urban areas, which show an improved accuracy compared to the extended Kalman filter (EKF) at reasonable computational burden.

关键词： attitude and heading reference system Low-Cost Sensors Gyroscope Bias Unscented Kalman filter Strong Tracking Filter Interval Type-3 Fuzzy Set

来源：评论

学校读者我要写书评

暂无评论

Design and implementation of an adaptive extended Kalman filter with interval type-3 fuzzy set for an attitude and heading reference system

引用

SIGNAL PROCESSING 2025年 233卷

作者： Faraji, Javad Keighobadi, Jafar Janabi-Sharifi, Farrokh Univ Tabriz Dept Mech Engn Tabriz *** Iran Toronto Metropolitan Univ Dept Mech & Ind Engn Toronto ON M5B 2K3 Canada

There are various techniques for estimating dynamic systems. Two of the most commonly used filters are the linear Kalman filter and the extended Kalman filter. However, these methods have some limitations since both the dynamic equations and the measurement equations need to be linearized. In addition, uncertainties in the dynamic equations and noise in the measurement equations must be considered when implementing these algorithms, which can be seen in the accurate determination of the covariance matrix of the process and measurement noise. This study focuses on improving the accuracy of the attitude and heading reference system through improved extended Kalman filter performance. This improvement is achieved by adjusting the covariance matrix with respect to the measurement noise using the interval type-3 fuzzy set in conjunction with the covariance matching technique. The novel algorithm is tested on a ground vehicle in an urban environment and its effectiveness compared to the traditional extended Kalman filter is demonstrated.

关键词： attitude and heading reference system Low-cost sensors Adaptive extended kalman filter Interval type-3 fuzzy set

来源：评论

学校读者我要写书评

暂无评论

Research on vehicle attitude and heading reference system based on multi-sensor information fusion

引用

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2020年第13期234卷 3056-3067页

作者： Fan, Jiacheng Wang, Zengcai Lin, Mingxing Fang, Susu Liu, Xiangpeng Fan, Baiwang Shandong Univ Sch Mech Engn 17923 Jingshi Rd Jinan 250061 Peoples R China Shandong Univ Key Lab High Efficiency & Clean Mech Manufacture Minist Educ Jinan Peoples R China Shandong Univ Natl Demonstrat Ctr Expt Mech Engn Educ Jinan Peoples R China

To improve the accuracy of attitude and heading reference systems for moving vehicles, an effective orientation estimation method is proposed. The method uses an odometer, a low-cost magnetic, angular rate, and gravity sensor. This study addresses the problems of non-orthogonal error, carrier magnetic field interference and calibration to obtain accurate, long-term, stable magnetic field strength. A neural network fusion 12-parameter ellipse fitting method is proposed to eliminate the soft magnetic field and hard magnetic field interference. The interference to the accelerometer from linear acceleration is eliminated by using an odometer and a gyroscope, and the high-frequency noise from the accelerometer is eliminated by using a low-pass filter. An improved method to evaluate vehicle attitude is proposed and utilized to compensate for filtered accelerometer measurement when the vehicle is moving at a uniform, accelerate and steering state. The proposed method uses an effective adaptive Kalman filter based on the error state model to reduce dynamic perturbations. Filter gain is adaptively tuned under different moving modes by adjusting the noise matrix. The effectiveness of the algorithm is verified by experiments and simulations in multiple operating conditions.

关键词： attitude and heading reference system orientation estimation magnetic ellipsoid fitting neural networks linear acceleration adaptive Kalman filter

来源：评论

学校读者我要写书评

暂无评论

Correlation method and Kalman filter-based adaptive angle rate estimation for time-varying periodic signals of the attitude and heading reference system

引用

MECHANICAL systemS AND SIGNAL PROCESSING 2021年 156卷 107695-107695页

作者： Hu, Peida Zhang, Mengzhao Zhang, Rong Wu, Qiuping Yang, Anlan Tsinghua Univ Dept Precis Instrument Beijing 100084 Peoples R China

An angle differential estimation method is needed for the attitude and heading reference system (AHRS), which is unavailable to measure the angle rate directly. Differential estimation accuracy is seriously affected by the model error of existing differential filters for time varying periodic angles provided by the AHRSs. To address this challenge, an adaptive angle rate estimation method based on the Kalman filter and correlation method is proposed. The Kalman filter based on the jerk model is selected to estimate the angle rate. The process noise covariance model of the Kalman filter is established considering amplitude and period fluctuations of the periodic signals. The correlation method is then combined with the Kalman filter to estimate the amplitude and period of the periodic signals, which are utilized to optimize the process noise covariance matrix of the Kalman filter. Compared with traditional differential estimation methods, the proposed method improves the angle rate estimation accuracy by adjusting the parameter of the differential filter according to the model error of the time?varying periodical angle. A simulation is conducted to verify the performance of the proposed method by continuously changing the amplitude and period of the signals. Simulation results show that the proposed method is least affected by model error and achieves the best performance compared with seven other traditional rate estimation methods. Turntable and sea tests also demonstrate the correctness and effectiveness of the proposed angle rate estimation method. ? 2021 Elsevier Ltd. All rights reserved.

关键词： Differential method Angle rate Adaptive Kalman filter Correlation method attitude and heading reference system

来源：评论

学校读者我要写书评

暂无评论

Reliability and Validity of attitude and heading reference system Motion Estimation in a Novel Mirror Therapy system

引用

JOURNAL OF MEDICAL AND BIOLOGICAL ENGINEERING 2018年第3期38卷 370-377页

作者： Kim, Wonshik Beom, Jaewon Park, Chulwoo Koh, Sukgyu Kim, Yoon Jae Kim, Youdan Chung, Sun Gun Kim, Sungwan Seoul Natl Univ Grad Sch Interdisciplinary Program Bioengn Seoul 110744 South Korea Chung Ang Univ Dept Phys Med & Rehabil Coll Med Seoul 06973 South Korea Seoul Natl Univ Dept Mech & Aerosp Engn Coll Engn Seoul 151742 South Korea Seoul Natl Univ Seoul Natl Univ Hosp Dept Rehabil Med Coll Med Seoul 110744 South Korea Seoul Natl Univ Dept Biomed Engn Coll Med Seoul 110799 South Korea Seoul Natl Univ Inst Med & Biol Engn Seoul 151742 South Korea

In this study, we conducted an experiment for validating a motion estimation system used in novel mirror therapy. The proposed motion estimation system consists of two parts. The first part is motion estimation using attitude and heading reference system sensors. The system attaches a reference frame to a patient to provide flexibility to the patient's movements. The second part is a compensation algorithm that uses principal component analysis (PCA). Ten subjects performed simple reaching tasks for the validation experiment. The results showed success rate of 89.67% under normal conditions. The PCA-based compensation algorithm increases the success rate from 89.67 to 92.89%. Accurate capturing of healthy arm motion will make effective robot-aided mirror therapy systems feasible.

关键词： attitude and heading reference system Inertia measurement unit Motion estimation Robot-aided mirror therapy Principal component analysis Robotic rehabilitation

来源：评论

学校读者我要写书评

暂无评论

A Low Cost attitude and heading reference system 5

A Low Cost Attitude and Heading Reference System

引用

5th International Conference on Information Science and Control Engineering (ICISCE)

作者： Zhang Qian Wu Yilin Guangdong Univ Educ Dept Comp Sci Guangzhou 510303 Guangdong Peoples R China

ISBN: (纸本)9781538655009

Real-time control should be conducted to the moving attitude during the autonomous flight of small unmanned aerial vehicle. The movement information of small unmanned aerial vehicle needed for control system is obtained through inertial measuring sensor. The information fusion algorithm can be designed through the original data obtained by this sensor so that the necessary state information can be provided for flight control system. In this paper, the design and implementation of a low cost attitude and heading reference system is discussed, and the algorithm has been applied to the attitude control of small unmanned helicopter.

关键词： attitude and heading reference system Kalman Filtering Information Fusion

来源：评论

学校读者我要写书评

暂无评论

attitude and heading reference system Based on 3D Complementary Filter 19

Attitude and Heading Reference System Based on 3D Complement...

引用

19th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Blachuta, Marian Grygiel, Rafal Czyba, Roman Szafranski, Grzegorz Silesian Tech Univ Dept Automat Control PL-44101 Gliwice Poland

ISBN: (纸本)9781479950812

The paper presents the idea, design and performance evaluation of a low-cost attitude and heading reference system (AHRS). It is based on an Inertial Measurement Unit (IMU), being a single sensor pack that provides all the raw data required to feed the designed filter. An extension of a complementary filter in form of feedback control system with PI controller, called 3D complementary filter provides attitude estimates in Euler angles representation. A developed algorithm of filtering and data fusion poses small computational requirements for the designed low-power embedded hardware. Test were performed based on the sensor model and next using a real IMU. Experimental results obtained by means of rapid prototyping of designed filtering algorithm in different operating states are presented and discussed.

关键词： PI control attitude control autonomous aerial vehicles embedded systems feedback 3D complementary filter AHRS IMU PI controller attitude and heading reference system attitude estimation feedback control system inertial measurement unit low-power embedded hardware proportional-integral controller rapid prototyping Acceleration Accelerometers Equations Feedback control Gyroscopes Magnetometers Robot sensing systems PI control attitude and heading reference systems Feedback control systems INERTIAL MEASUREMENT UNITS Manipulator sensing systems rapid prototyping Gyroscopes magnetometers attitude control accelerometers complementary filter feedback control Embedded systems reference system acceleration

来源：评论

学校读者我要写书评

暂无评论

A neural network approach to an attitude heading reference system 52

A neural network approach to an attitude heading reference s...

引用

52nd AIAA Aerospace Sciences Meeting - AIAA Science and Technology Forum and Exposition, SciTech 2014

作者： Leccadito, Matthew T. Bakker, Tim Klenke, Robert H. Virginia Commonwealth University Dept. of Electrical and Computer Engineering Richmond VA 23284 United States

ISBN: (数字)9781624102561

ISBN: (纸本)9781624102561

This paper develops a novel sensor fusion system for low-cost inertial measurement units using neural networks. Lowcost strapdown inertial measurement units mainly consist of accelerometer, gyroscope and magnetometer devices to provide sufficient measurements to determine the orientation of the platform. The noise, drift and environmental effects on these devices heavily influence the outcome of the measurements for each device. Where each individual device cannot yield a proper solution to the orientation problem in all circumstances, sensor fusion will combine the measurements of each device and give a more accurate estimate of the orientation. The results outlined in this paper show that neural networks can be used to provide sensor fusion capabilities. Furthermore it is able to adaptively and intelligently determine the more accurate measurement source in order to estimate the orientation of the platform.

关键词： Artificial Neural Network attitude and heading reference system Accelerometer Infrared Sensors Gyroscopes Inertial Measurement Unit Magnetometers Kalman Filter Unmanned Aerial Vehicle Inertial Navigation system

来源：评论

学校读者我要写书评

暂无评论

A Fast Complementary Filter for Avoiding the Magnetometer Measurements From Influencing the Calculation of Pitch and Roll

引用

IEEE SENSORS JOURNAL 2025年第7期25卷 11521-11531页

作者： Rong, Hailong Peng, Cuiyun Chen, Yang Lv, Jidong Zhu, Yanping Zou, Ling Changzhou Univ Sch Mech Engn & Rail Transit Changzhou 213164 Peoples R China Changzhou Univ Sch Wangzheng Microelect Changzhou 213159 Peoples R China

Despite the magnetometer in a magnetic and inertial measurement unit (MIMU) being used to estimate the azimuth, its measurements can also negatively affect the computation of inclination angles when magnetic disturbance appears. It is challenging to eliminate that negative effect. For problem-solving, a new complementary filter (CF) is proposed. The filter is divided into two stages. In the first stage, the attitude represented by quaternion is predicted by gyroscope, and then, the predicted quaternion is converted to Euler angles. In the second stage, the predicted Euler angles are compensated by employing the accelerometer and the magnetometer, and then, the after-compensated Euler angles are converted back to quaternion. To solve the problem of "gimbal lock," two sets of Euler angles with different definitions of the rotation sequence are used. The simulation and experiment results demonstrate that the proposed filter outperforms six other competing filters, revealing its potential usage in such applications where magnetic disturbance is not allowed to affect the computation of inclination angles.

关键词： Magnetic separation Magnetometers Mathematical models Accelerometers Quaternions Pollution measurement Azimuth Position measurement Gyroscopes Vectors attitude and heading reference system complementary filter (CF) Euler angles high computational efficiency magnetic disturbance

来源：评论

学校读者我要写书评

暂无评论

State Transformation UKF Algorithm for MEMS-IMU-Based Rotary AHRS in USV With Large Gyro Bias and Initial Misalignment

引用

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2025年 74卷

作者： Gu, Yuanxin Wu, Wenqi Liu, Chenchen Wang, Maosong Feng, Guohu Natl Univ Def Technol Dept Automat Control Coll Intelligence Sci & Technol Changsha 410073 Hunan Peoples R China China Acad Launch Vehicle Technol Beijing Aerosp Automat Control Res Inst Beijing 100854 Peoples R China

The microelectromechanical system inertial measurement unit (MEMS-IMU)-based attitude and heading reference system (AHRS) holds significant importance for unmanned surface vehicles (USVs). To address the challenges posed by substantial gyro bias error and considerable initial misalignment in MEMS-IMU-based AHRS, a state transformation unscented Kalman filter (ST-UKF) algorithm is introduced. This algorithm employs a 180 degrees two-position turn-stop rotary scheme around the MEMS-IMU's azimuth axis, enhancing the observability of filtering states. In addition, a novel nonlinear attitude error model, grounded in rotation vectors, is applied based on which the state transformation extended Kalman filter (ST-EKF) can be expanded to ST-UKF. Numerical simulations, triple-axis turntable experiments, and ocean experiments are conducted utilizing an MEMS-IMU-based rotary AHRS with a gyro bias error of 20 degrees/h (1 sigma). The initial misalignment error range is assumed to span up to +/- 30 degrees. In environments where GNSS is unavailable, acoustic Doppler current profiler (ADCP) velocity and local altitude information are utilized. The results demonstrate that ST-UKF outperforms both the existing unscented Kalman filter (UKF) and the state transformation extended Kalman filter (ST-EKF) in terms of attitude error convergence speed and estimation accuracy during dynamic conditions. Specifically, in the ocean experiment, the yaw angle estimation accuracy of ST-UKF has improved by 59.3% compared to UKF and 80.9% compared to ST-EKF.

关键词： Gyroscopes Mathematical models Accuracy Vectors Kalman filters Computational modeling Inertial navigation Filtering Differential equations Vehicle dynamics attitude and heading reference system large gyro bias large misalignment microelectromechanical system inertial measurement unit (MEMS-IMU) state transformation unscented Kalman filter (UKF)

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：