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
N1 - Publisher Copyright:
© 2016 IEEE.
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 -