title: Accurate Attitude Estimation Using ARS under Conditions of Vehicle Movement Based on Disturbance Acceleration Adaptive Estimation and Correction.
abstract: This paper describes a disturbance acceleration adaptive estimate and correction approach for an attitude reference system (ARS) so as to improve the attitude estimate precision under vehicle movement conditions. The proposed approach depends on a Kalman filter, where the attitude error, the gyroscope zero offset error and the disturbance acceleration error are estimated. By switching the filter decay coefficient of the disturbance acceleration model in different acceleration modes, the disturbance acceleration is adaptively estimated and corrected, and then the attitude estimate precision is improved. The filter was tested in three different disturbance acceleration modes (non-acceleration, vibration-acceleration and sustained-acceleration mode, respectively) by digital simulation. Moreover, the proposed approach was tested in a kinematic vehicle experiment as well. Using the designed simulations and kinematic vehicle experiments, it has been shown that the disturbance acceleration of each mode can be accurately estimated and corrected. Moreover, compared with the complementary filter, the experimental results have explicitly demonstrated the proposed approach further improves the attitude estimate precision under vehicle movement conditions.
authors.affiliation: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China. nuaaxl@nuaa.edu.cn.
authors.forename: Li
authors.initials: L
authors.lastname: Xing
authors.affiliation: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China. hangyijun@nuaa.edu.cn.
authors.forename: Yijun
authors.initials: Y
authors.lastname: Hang
authors.affiliation: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China. xiongzhi@nuaa.edu.cn.
authors.forename: Zhi
authors.initials: Z
authors.lastname: Xiong
authors.affiliation: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China. ljyac@nuaa.edu.cn.
authors.forename: Jianye
authors.initials: J
authors.lastname: Liu
authors.affiliation: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China. wanzhong@nuaa.edu.cn.
authors.forename: Zhong
authors.initials: Z
authors.lastname: Wan
keywords: Kalman filter; adaptive estimate and correction; attitude estimation; attitude reference system (ARS); disturbance acceleration