dc.contributor.author | Bjørne, Elias | |
dc.contributor.author | Johansen, Tor Arne | |
dc.contributor.author | Brekke, Edmund Førland | |
dc.date.accessioned | 2017-12-12T14:58:10Z | |
dc.date.available | 2017-12-12T14:58:10Z | |
dc.date.created | 2017-12-09T14:31:38Z | |
dc.date.issued | 2017 | |
dc.identifier.issn | 1066-033X | |
dc.identifier.uri | http://hdl.handle.net/11250/2470891 | |
dc.description.abstract | This article presents an attitude observer that exploits both bearing and range measurements from landmarks, in addition to reference vectors such as magnetometer and accelerometer. It is a gyro bias observer in cascade with a simplified complementary filter, driven by a gyro measurement, in which the gyro bias is estimated by comparing the bearing dynamics with the gyro measurements. The observer is compared to a full complimentary filter, and it is shown that it is more robust to initial gyro bias estimation error compared to the complimentary filter. The article also reveals how this new observer handles magnetometer failure and can use landmarks as reference vectors. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.title | Cascade Attitude Observer for the SLAM filtering problem | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.journal | IEEE Conference on Control Technology and Applications | nb_NO |
dc.identifier.doi | 10.1109/CCTA.2017.8062581 | |
dc.identifier.cristin | 1525169 | |
dc.relation.project | Norges forskningsråd: 250725 | nb_NO |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |