Data Fusion-Based Descriptor Approach for Attitude Estimation under accelerated maneuvers

Aida Makni (1) , Alain Kibangou (1) , Hassen Fourati (1)

1 NECS-POST - Systèmes Commandés en Réseau

This paper proposes the design of an attitude estimation algorithm for a rigid body subject to accelerated maneuvers. Unlike the current literature where the process model is usually driven by triaxial gyroscope measurements, we investigate a new formulation of the state-space model where the process model is given by triaxial accelerometer measurements. The observation model is given by triaxial gyroscope and magnetometer measurements. The proposed model is written as a descriptor system and takes the external acceleration sensed by the accelerometer into account. Based on this model, a Quaternion Descriptor Filter (QDF) is developped and its performance is evaluated through simulations and experimental tests in pedestrian navigation.

Mots clés: descriptor filter; Attitude estimation; MARG sensors; quaternion; external acceleration

Domaines: Automatique / Robotique

Aida Makni, Alain Kibangou, Hassen Fourati. Data Fusion-Based Descriptor Approach for Attitude Estimation under accelerated maneuvers. Asian Journal of Control, 2019, 21 (4), pp.1433-1442. ⟨10.1002/asjc.2084⟩. ⟨hal-01982463⟩