Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors

Xiaobo Lin; Yao Yu; Chang Yin Sun

doi:10.1109/WCICA.2016.7578789

Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors

Xiaobo Lin
, Yao Yu
, Chang Yin Sun

University of Science and Technology Beijing

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

The low-cost MEMs gyro is commonly used for attitude estimation. However, it suffers from slow time-varying gyro-bias which may cause loss of estimation accuracy. In this paper, a real-time attitude and gyro-bias estimation method is presented to estimate attitude and gyro-bias online. Besides, a kind of redundancy mechanism of multi low-cost sensors is given to enhance system reliability and estimation performance. At the end, the proposed method is verified through both the simulation and hardware experiment. The results show that the proposed method could maintain estimation accuracy even if the gyro-bias is unknown.

Original language	English
Title of host publication	Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3289-3294
Number of pages	6
ISBN (Electronic)	9781467384148
DOIs	https://doi.org/10.1109/WCICA.2016.7578789
State	Published - 27 Sep 2016
Externally published	Yes
Event	12th World Congress on Intelligent Control and Automation, WCICA 2016 - Guilin, China Duration: 12 Jun 2016 → 15 Jun 2016

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Volume	2016-September

Conference

Conference	12th World Congress on Intelligent Control and Automation, WCICA 2016
Country/Territory	China
City	Guilin
Period	12/06/16 → 15/06/16

Access to Document

10.1109/WCICA.2016.7578789

Cite this

Lin, X., Yu, Y., & Sun, C. Y. (2016). Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors. In Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016 (pp. 3289-3294). Article 7578789 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2016-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2016.7578789

Lin, Xiaobo ; Yu, Yao ; Sun, Chang Yin. / Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors. Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 3289-3294 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

@inproceedings{97b6047f5ab84726a593e69e659a9175,

title = "Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors",

abstract = "The low-cost MEMs gyro is commonly used for attitude estimation. However, it suffers from slow time-varying gyro-bias which may cause loss of estimation accuracy. In this paper, a real-time attitude and gyro-bias estimation method is presented to estimate attitude and gyro-bias online. Besides, a kind of redundancy mechanism of multi low-cost sensors is given to enhance system reliability and estimation performance. At the end, the proposed method is verified through both the simulation and hardware experiment. The results show that the proposed method could maintain estimation accuracy even if the gyro-bias is unknown.",

author = "Xiaobo Lin and Yao Yu and Sun, \{Chang Yin\}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 12th World Congress on Intelligent Control and Automation, WCICA 2016 ; Conference date: 12-06-2016 Through 15-06-2016",

year = "2016",

month = sep,

day = "27",

doi = "10.1109/WCICA.2016.7578789",

language = "英语",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3289--3294",

booktitle = "Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016",

}

Lin, X, Yu, Y & Sun, CY 2016, Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors. in Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016., 7578789, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), vol. 2016-September, Institute of Electrical and Electronics Engineers Inc., pp. 3289-3294, 12th World Congress on Intelligent Control and Automation, WCICA 2016, Guilin, China, 12/06/16. https://doi.org/10.1109/WCICA.2016.7578789

Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors. / Lin, Xiaobo; Yu, Yao; Sun, Chang Yin.
Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 3289-3294 7578789 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2016-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors

AU - Lin, Xiaobo

AU - Yu, Yao

AU - Sun, Chang Yin

PY - 2016/9/27

Y1 - 2016/9/27

N2 - The low-cost MEMs gyro is commonly used for attitude estimation. However, it suffers from slow time-varying gyro-bias which may cause loss of estimation accuracy. In this paper, a real-time attitude and gyro-bias estimation method is presented to estimate attitude and gyro-bias online. Besides, a kind of redundancy mechanism of multi low-cost sensors is given to enhance system reliability and estimation performance. At the end, the proposed method is verified through both the simulation and hardware experiment. The results show that the proposed method could maintain estimation accuracy even if the gyro-bias is unknown.

AB - The low-cost MEMs gyro is commonly used for attitude estimation. However, it suffers from slow time-varying gyro-bias which may cause loss of estimation accuracy. In this paper, a real-time attitude and gyro-bias estimation method is presented to estimate attitude and gyro-bias online. Besides, a kind of redundancy mechanism of multi low-cost sensors is given to enhance system reliability and estimation performance. At the end, the proposed method is verified through both the simulation and hardware experiment. The results show that the proposed method could maintain estimation accuracy even if the gyro-bias is unknown.

UR - https://www.scopus.com/pages/publications/84991583828

U2 - 10.1109/WCICA.2016.7578789

DO - 10.1109/WCICA.2016.7578789

M3 - 会议稿件

AN - SCOPUS:84991583828

T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

SP - 3289

EP - 3294

BT - Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 12th World Congress on Intelligent Control and Automation, WCICA 2016

Y2 - 12 June 2016 through 15 June 2016

ER -

Lin X, Yu Y, Sun CY. Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors. In Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 3289-3294. 7578789. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). doi: 10.1109/WCICA.2016.7578789

Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors

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