DESIGN AND IMPLEMENTATION OF AHRS BY USING KAUTZ FUNCTION AND PREDICTIVE ESTIMATOR WITH EULER’S DYNAMIC

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VOSOUGHI HAMID; KEIGHOBADI JAFAR; FARAJI JAVAD

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Journal: Modares Mechanical Engineering Year:2017 | Volume:17 | Issue:6 Page(s): 221-232

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Title

DESIGN AND IMPLEMENTATION OF AHRS BY USING KAUTZ FUNCTION AND PREDICTIVE ESTIMATOR WITH EULER’S DYNAMIC

Author(s)

VOSOUGHI HAMID | KEIGHOBADI JAFAR | FARAJI JAVAD | Issue Writer Certificate

Keywords

ESTIMATIONQ1

OBSERVERQ1

DUALITYQ1

UNCERTAINTYQ2

ATTITUDE AND HEADING OF REFERENCE SYSTEMQ1

Abstract

In recent years, to reduce positioning cost for civil and robotic applications, low-cost inertial sensors, especially Micro Electro Mechanical System (MEMS) types have been produced. Positioning Error of an inertial navigation system comprising low-cost inertial sensors increases due to significant UNCERTAINTY of noises, bias and drift of MEMS sensors in short times. Therefore, combination with an auxiliary system such as the Global Positioning System (GPS) is proposed in order to reduce the errors through integration estimator algorithms. This paper aims to develop a new ESTIMATION algorithm for integrated attitude and heading reference system (AHRS) with GPS. Kalman Filter is commonly used for linear systems and its extended version has been used for nonlinear system. Generally, the Kalman type estimators fall into trouble when the system exhibits nonlinear behavior and to overcome these issues, the predictive estimator is considered in the paper. Design process of Model Predictive OBSERVER (MPO) is proposed based on the DUALITY between the problems of control and ESTIMATION in linear systems. To assess the performance of the proposed method compared with the extended Kalman filter, practical tests of AHRS/GPS have been done on car and flight vehicles. The test results of the designed MPO during all tests show the significant superiority in comparison to the extended Kalman filter.

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APA: Copy

VOSOUGHI, HAMID, KEIGHOBADI, JAFAR, & FARAJI, JAVAD. (2017). DESIGN AND IMPLEMENTATION OF AHRS BY USING KAUTZ FUNCTION AND PREDICTIVE ESTIMATOR WITH EULER’S DYNAMIC. MODARES MECHANICAL ENGINEERING, 17(6 ), 221-232. SID. https://sid.ir/paper/179234/en

Vancouver: Copy

VOSOUGHI HAMID, KEIGHOBADI JAFAR, FARAJI JAVAD. DESIGN AND IMPLEMENTATION OF AHRS BY USING KAUTZ FUNCTION AND PREDICTIVE ESTIMATOR WITH EULER’S DYNAMIC. MODARES MECHANICAL ENGINEERING[Internet]. 2017;17(6 ):221-232. Available from: https://sid.ir/paper/179234/en

IEEE: Copy

HAMID VOSOUGHI, JAFAR KEIGHOBADI, and JAVAD FARAJI, “DESIGN AND IMPLEMENTATION OF AHRS BY USING KAUTZ FUNCTION AND PREDICTIVE ESTIMATOR WITH EULER’S DYNAMIC,” MODARES MECHANICAL ENGINEERING, vol. 17, no. 6 , pp. 221–232, 2017, [Online]. Available: https://sid.ir/paper/179234/en

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