Design of attitude estimation algorithms for inertial sensors only measurement scenarios

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Design of Attitude Estimation Algorithms for Inertial Sensors only Measurement Scenarios.pdf

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2022-3-24

Author

Candan, Batu

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This thesis proposes four novel robust Kalman filter algorithms for attitude estimation using only the measurements of an inertial measurement unit. Efficiency and optimality of the Kalman filter based attitude filters are correlated with appropriate tuning of the covariance matrices. Manual tuning process is a difficult and time-consuming task. Specifically, the inertial measurement unit-only attitude estimation filters are prone to the external accelerations unless their covariances are adapted to gain robustness. The proposed algorithms provide an adaptive method for tuning the measurement noise covariance such that they can accurately estimate the attitude. The proposed methodologies are tested and compared with other filtering algorithms in the literature under different dynamical conditions and using real-world experimental datasets in order to validate their effectiveness. Results show that in highly dynamic scenarios especially the multiple tuning factor strategy can increase the attitude estimation accuracy more than two-times compared to the competitive algorithms.

Subject Keywords

Attitude estimation, Covariance tuning, Robust Kalman filter

URI

https://hdl.handle.net/11511/96739

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

B. Candan, “Design of attitude estimation algorithms for inertial sensors only measurement scenarios,” M.S. - Master of Science, Middle East Technical University, 2022.