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Kalman- lter based position and attitude estimation algorithms for an Inertial Measurement Unit

Author(s):

Andreas Hejj
Conference/Journal:

Master Thesis HS 09 (10012)
Abstract:

The objective of this thesis is to develop stable Navigation algorithms for unmanned vehicles or low cost autonomous applications to estimate the position, velocity, and attitude (PVT) based on low-cost GPS-receiver and Inertial Measurement Unit (IMU). One Kalman lter for the attitude estimation (an attitude and heading reference system - AHRS) and three Kalman lters for the PVT estimation (an AHRS and INS/GPS fusion, a loosely coupled INS/GPS, and a tightly coupled INS/GPS) are presented. Their performance and optimality is evaluated by simulations and experiments. In a rst step a quaternion based attitude and heading reference system (AHRS), a fusion of the AHRS with GPS/INS, a loosely coupled INS/GPS, and a tightly coupled INS/GPS algorithm are implemented and evaluated with real sensor data in MATLAB R Simulink. The quaternion based AHRS and the loosely coupled INS/GPS are selected to be implemented in a second step on the microprocessor. Finally the Hardware is tested in a Hardware in the Loop (HIL) and in real ight situations showing that the algorithms can be used for navigation purposes.

Year:

2009
Type of Publication:

(12)Diploma/Master Thesis
Supervisor:

J. Lygeros

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2009:IFA_4102
}
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