Research Article
Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations
Table 1
(a) Test A: MSE (
) of
Mode 1,
Mode 3,
Mode 4, and
Mode 5 in detail. (b) Test A: maximum error (
) of
Mode 1,
Mode 3,
Mode 4, and
Mode 5 in detail.
| (a) |
| | Acc (m/s2) | Mode 1 | Mode 3 | Mode 4 | Mode 5 | | pitch (deg2) | roll (deg2) | pitch (deg2) | roll (deg2) | pitch (deg2) | roll (deg2) | pitch (deg2) | roll (deg2) |
| | 0.1 | 9.60 | 2.92 | 9.31 | 2.71 | 99.42 | 26.73 | 9.04 | 2.89 | | 0.75 | 24.77 | 3.22 | 24.66 | 3.20 | 92.56 | 183.10 | 22.92 | 2.82 | | 1.5 | 29.79 | 3.59 | 29.41 | 4.02 | 113.20 | 227.13 | 28.79 | 2.86 | | 2.5 | 36.84 | 4.88 | 34.49 | 5.60 | 44.94 | 168.43 | 33.82 | 4.03 | | Mean (sd) | 25.25 (10) | 3.65 (0.8) | 24.47 (9.4) | 3.88 (1.1) | 87.53 (25.7) | 151.35 (75.1) | 23.64 (9.3) | 3.15 (0.5) |
|
|
| (b) |
| | Acc (m/s2) | Mode 1 | Mode 3 | Mode 4 | Mode 5 | | pitch (deg) | roll (deg) | pitch (deg) | roll (deg) | pitch (deg) | roll (deg) | pitch (deg) | roll (deg) |
| | 0.1 | 26.05 | 8.61 | 26.05 | 8.61 | 18.52 | 10.19 | 21.97 | 8.99 | | 0.75 | 27.93 | 7.76 | 27.93 | 7.76 | 20.87 | 19.02 | 22.97 | 6.56 | | 1.5 | 29.16 | 6.81 | 29.16 | 6.81 | 23.72 | 25.44 | 22.45 | 5.74 | | 2.5 | 29.70 | 12.30 | 29.70 | 12.30 | 16.44 | 20.74 | 23.69 | 9.35 | | Mean (sd) | 28.21 (1.4) | 8.87 (2.1) | 28.21 (1.4) | 8.87 (2.1) | 19.89 (2.7) | 18.85 (5.5) | 22.77 (0.6) | 7.66 (1.5) |
|
|
