Please use this identifier to cite or link to this item: http://repositorio.ufla.br/jspui/handle/1/46832
Title: Three-Axis Attitude Determination with Pseudo-Bias Estimation from Gravity/Magnetic Vector Observations
Keywords: Magnetometers
Attitude and heading reference system
Accelerometer
Magnetic Flux
Singular value decomposition
Kalman filter
Earth's magnetic field
Monte Carlo experiment
Histograms
Gravimetria
Magnetômetros
Sistema de referência de atitude e orientação
Acelerômetro
Fluxo magnético
Decomposição em valores singulares
Filtro de Kalman
Campo geomagnético
Método de Monte Carlo
Issue Date: Oct-2020
Publisher: American Institute of Aeronautics and Astronautics
Citation: SILVA, F. O. et al. Three-Axis Attitude Determination with Pseudo-Bias Estimation from Gravity/Magnetic Vector Observations. Journal of Guidance, Control, and Dynamics, Reston, v. 43, n. 12, Dec. 2020. DOI: https://doi.org/10.2514/1.G005253.
Abstract: This paper revisits the stationary alignment problem of attitude and heading reference systems (AHRSs). The investigation is initiated from the three-axis attitude determination (TRIAD)–based method, purposely chosen to use nonunitary/nonorthogonal observations of the local gravity and Earth’s magnetic flux density vectors. For the simplifying assumption of body and navigation frames aligned, a comprehensive error analysis is developed, providing additional insight into the problem. Closed-form formulas for the residual normality and orthogonality errors are used to devise innovative pseudo-bias estimation (PBE) algorithms for the x- and z-axis magnetometer biases, as well as for the z-axis accelerometer bias. As a direct consequence of applying the latter, and also figuring as the main contribution of this paper, an improved (more accurate) AHRS stationary alignment approach is obtained, herein called TRIAD-PBE. The error analysis is extended to representative state-of-the-art attitude determination techniques, confirming the relevance of TRIAD-PBE, especially in the presence of hard-iron magnetism. Results from simulated and experimental tests confirm the adequacy of the outlined verifications.
URI: https://doi.org/10.2514/1.G005253
http://repositorio.ufla.br/jspui/handle/1/46832
Appears in Collections:DAT - Artigos publicados em periódicos
DEG - Artigos publicados em periódicos

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