Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations

<table class="table-group" id="tab7"><tr><td><table class="table"><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td class="align_left">MSE</td><td class="align_center">Mode 1</td><td class="align_center">Mode 2</td><td class="align_center">Mode 3</td><td class="align_center">Mode 4</td><td class="align_center">Mode 5</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td class="align_left">Pitch (deg<sup>2</sup>)</td><td class="align_center">395.35</td><td class="align_center">175.97</td><td class="align_center">147.92</td><td class="align_center">1036.2</td><td class="align_center">160.87</td></tr><tr><td class="align_left">Roll (deg<sup>2</sup>)</td><td class="align_center">367.57</td><td class="align_center">245.80</td><td class="align_center">55.24</td><td class="align_center">141.35</td><td class="align_center">217.94</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Test C: MSE in degree<svg height="11.6047pt" id="M365" style="vertical-align:-0.04979992pt" version="1.1" viewbox="-0.0498162 -11.5549 4.84511 11.6047" width="4.84511pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0091,0,0,-0.0091,0,-5.741)"><path d="M411 139C381 76 368 73 314 73H129L267 224C351 317 400 380 400 469C400 574 322 635 233 635C176 635 128 610 98 576L40 495L63 476C89 515 130 568 198 568C274 568 316 519 316 436C316 347 251 264 191 192C142 134 85 76 30 21V0H403C415 45 425 89 438 131L411 139Z" id="g190-243"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="465" vert-adv-y="465"></glyph.data></g></svg> of all modes.

Journal of Sensors

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Table 7

Table 7: Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations 