Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations

Figure 13

External acceleration compensation: original accelerometer signal is shown in (a), (b), and (c); compensation model output is shown in (d), (e), and (f) along the -, -, and -axis, respectively. In (a), the dash-dot line indicates Phases I and II, respectively, while in (b), the dash-dot line indicates Phases III and IV, respectively.