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Quaternion based attitude estimation technique involving the extended Kalman filter

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2019, Master of Science in Engineering, University of Akron, Mechanical Engineering.
This thesis illustrates the application of the Extended Kalman filter for online estimation of attitude of a body. The accuracy of controlled attitude largely depends on the performance of the estimation algorithm. In this thesis, the extended Kalman filter (EKF) algorithm consisting of quaternion based state representation is used. The EKF algorithm utilizes gyroscope reading for priori estimation and measurements reading from the accelerometer and the magnetometer to correct the states. In simple terms, the extended Filter is used as the estimation tool by fusing the data from the gyroscope, the accelerometer and the magnetometer. A device that combines the gyroscope, accelerometer and magnetometer is called inertial measurement unit (IMU). The non- accurate scaling, sensor misalignment and non-zero biases of IMU devices are eliminated by proper calibration. The sensors utilized in the estimation have noise and biases which results in propagation of error in time. The noise and biases should be eliminated to get the accurate estimates. In this work, the EKF algorithm with some modification in state equation and in the Kalman filter gain is implemented for both the steady state and the body acceleration conditions. The estimation of the modified EKF is compared with the estimation technique used by VECTORNAV, a well-known commercial IMU. The modified EKF performed well compared to VECTORNAV in steady state condition. However, under body acceleration, the modified EKF did not perform as well as what VECTORNAV did. The attitude estimation technique discussed in this thesis is less expensive and easy compared to those used in missile and aircraft guidance. The algorithm discussed in this thesis can be well implemented in the navigation of robots and drones for home applications.
Celal Batur (Advisor)
Ajay Mahajan (Committee Member)
Siamak Farhad (Committee Member)
125 p.

Recommended Citations

Citations

  • Gautam, I. (2019). Quaternion based attitude estimation technique involving the extended Kalman filter [Master's thesis, University of Akron]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=akron1556196539847396

    APA Style (7th edition)

  • Gautam, Ishwor. Quaternion based attitude estimation technique involving the extended Kalman filter . 2019. University of Akron, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=akron1556196539847396.

    MLA Style (8th edition)

  • Gautam, Ishwor. "Quaternion based attitude estimation technique involving the extended Kalman filter ." Master's thesis, University of Akron, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=akron1556196539847396

    Chicago Manual of Style (17th edition)