Drift-free attitude estimation for accelerated rigid bodies
نویسندگان
چکیده
منابع مشابه
Drift-free attitude estimation for accelerated rigid bodies
In this paper we study the attitude estimation problem for an accelerated rigid body using gyros and accelerometers. The application in mind is that of a walking robot and particular attention is paid to the large and abrupt changes in accelerations that can be expected in such an environment. We propose a state estimation algorithm that fuses data from rate gyros and accelerometers to give lon...
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ژورنال
عنوان ژورنال: Automatica
سال: 2004
ISSN: 0005-1098
DOI: 10.1016/j.automatica.2003.11.002