Low-cost attitude estimation for a ground vehicle

  1. Rico-Azagra, J. 1
  2. Gil-Martínez, M. 1
  3. Rico-Azagra, R. 1
  4. Maisterra, Paloma. 1
  1. 1 Universidad de La Rioja
    info

    Universidad de La Rioja

    Logroño, España

    ROR https://ror.org/0553yr311

Libro:
Advances in Intelligent Systems and Computing

ISSN: 2194-5357

ISBN: 9783319271453

Año de publicación: 2016

Volumen: 417

Páginas: 121-132

Tipo: Capítulo de Libro

DOI: 10.1007/978-3-319-27146-0_10 SCOPUS: 2-s2.0-84951787689 WoS: WOS:000370651600010 GOOGLE SCHOLAR

Resumen

This paper deals with accurate attitude estimation in unmanned ground vehicles using low-cost inertial measurement units. Using Euler angles representation, direct estimations are firstly performed from a single sensor, accelerometer or gyroscope. Then, the low frequency components of the first one and the high frequency components of the second one are fused through an explicit complementary filter (ECF), which uses the quaternion representation. A feedback control structure implements the ECF whose controller parameters determine the filter cut-off frequencies. Finally, a scheduling of controllers in the ECF structure overcomes the shortcomings of accelerometer direct estimation at low frequencies. It provides reliable attitude, although the vehicle movement is accelerated. Illustrative experiments are driven with a Traxxas Car equipped with an Ardupilot Mega 2.5 board. © Springer International Publishing Switzerland 2016.