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Campo DC | Valor | Idioma |
---|---|---|
dc.creator | Silva, Felipe O. | - |
dc.creator | Menezes Filho, Rogério P. | - |
dc.creator | Vieira, Leonardo A. | - |
dc.creator | Kuga, Hélio K. | - |
dc.creator | Barros, Ettore A. de | - |
dc.date.accessioned | 2021-07-29T17:07:07Z | - |
dc.date.available | 2021-07-29T17:07:07Z | - |
dc.date.issued | 2020-10 | - |
dc.identifier.citation | SILVA, F. O. et al. Three-Axis Attitude Determination with Pseudo-Bias Estimation from Gravity/Magnetic Vector Observations. Journal of Guidance, Control, and Dynamics, Reston, v. 43, n. 12, Dec. 2020. DOI: https://doi.org/10.2514/1.G005253. | pt_BR |
dc.identifier.uri | https://doi.org/10.2514/1.G005253 | pt_BR |
dc.identifier.uri | http://repositorio.ufla.br/jspui/handle/1/46832 | - |
dc.description.abstract | This paper revisits the stationary alignment problem of attitude and heading reference systems (AHRSs). The investigation is initiated from the three-axis attitude determination (TRIAD)–based method, purposely chosen to use nonunitary/nonorthogonal observations of the local gravity and Earth’s magnetic flux density vectors. For the simplifying assumption of body and navigation frames aligned, a comprehensive error analysis is developed, providing additional insight into the problem. Closed-form formulas for the residual normality and orthogonality errors are used to devise innovative pseudo-bias estimation (PBE) algorithms for the x- and z-axis magnetometer biases, as well as for the z-axis accelerometer bias. As a direct consequence of applying the latter, and also figuring as the main contribution of this paper, an improved (more accurate) AHRS stationary alignment approach is obtained, herein called TRIAD-PBE. The error analysis is extended to representative state-of-the-art attitude determination techniques, confirming the relevance of TRIAD-PBE, especially in the presence of hard-iron magnetism. Results from simulated and experimental tests confirm the adequacy of the outlined verifications. | pt_BR |
dc.language | en_US | pt_BR |
dc.publisher | American Institute of Aeronautics and Astronautics | pt_BR |
dc.rights | restrictAccess | pt_BR |
dc.source | Journal of Guidance, Control, and Dynamics | pt_BR |
dc.subject | Magnetometers | pt_BR |
dc.subject | Attitude and heading reference system | pt_BR |
dc.subject | Accelerometer | pt_BR |
dc.subject | Magnetic Flux | pt_BR |
dc.subject | Singular value decomposition | pt_BR |
dc.subject | Kalman filter | pt_BR |
dc.subject | Earth's magnetic field | pt_BR |
dc.subject | Monte Carlo experiment | pt_BR |
dc.subject | Histograms | pt_BR |
dc.subject | Gravimetria | pt_BR |
dc.subject | Magnetômetros | pt_BR |
dc.subject | Sistema de referência de atitude e orientação | pt_BR |
dc.subject | Acelerômetro | pt_BR |
dc.subject | Fluxo magnético | pt_BR |
dc.subject | Decomposição em valores singulares | pt_BR |
dc.subject | Filtro de Kalman | pt_BR |
dc.subject | Campo geomagnético | pt_BR |
dc.subject | Método de Monte Carlo | pt_BR |
dc.title | Three-Axis Attitude Determination with Pseudo-Bias Estimation from Gravity/Magnetic Vector Observations | pt_BR |
dc.type | Artigo | pt_BR |
Aparece nas coleções: | DAT - Artigos publicados em periódicos DEG - Artigos publicados em periódicos |
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