- Tytuł:
- Kalman filter realization for orientation and position estimation on dedicated processor
- Autorzy:
-
Romaniuk, S.
Gosiewski, Z. - Powiązania:
- https://bibliotekanauki.pl/articles/387597.pdf
- Data publikacji:
- 2014
- Wydawca:
- Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
- Tematy:
-
INS
inertial navigation system (INS)
GPS
Kalman filter
filtr Kalmana - Opis:
- This paper presents Kalman filter design which has been programmed and evaluated in dedicated STM32 platform. The main aim of the work performed was to achieve proper estimation of attitude and position signals which could be further used in unmanned aeri-al vehicle autopilots. Inertial measurement unit and GPS receiver have been used as measurement devices in order to achieve needed raw sensor data. Results of Kalman filter estimation were recorded for signals measurements and compared with raw data. Position actual-ization frequency was increased from 1 Hz which is characteristic to GPS receivers, to values close to 50 Hz. Furthermore it is shown how Kalman filter deals with GPS accuracy decreases and magnetometer measurement noise.
- Źródło:
-
Acta Mechanica et Automatica; 2014, 8, 2; 88-94
1898-4088
2300-5319 - Pojawia się w:
- Acta Mechanica et Automatica
- Dostawca treści:
- Biblioteka Nauki
Artykuł