Attitude Determination by Integration of Multi-Sensors Based on Federated Kalman Filter

Abstract:

Micro inertial measurement unit integration storage test system is a typical multi-sensor information fusion system consists of microsensors. The Federated Kalman filter is applied to micro inertial measurement unit integration storage test system. The general structure and characteristics of Federated Kalman filter is expounded. The four-order Runge-Kutta method based on quaternion differential equation was used to dispose the output angular rate data from gyroscope, and the recurrence expressions was established too. The control system based ARM Cortex-M4 master-slave structure is adopted in this paper. The result shown that the dimensionality reduced algorithm significantly reduces implementation complexity of the method and the amount computation. The filtering effect and real-time performance have much increased than traditionally method.

• Periodical: Applied Mechanics and Materials (Volumes 602-605)
• Pages: 2958-2961
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.602-605.2958
• Online since: August 2014
• Authors: Tao Lai*, Guang Long Wang, Wen Jie Zhu, Feng Qi Gao
• Keywords: Adaptive Filtering, Federated Kalman Filter, Mircosensors, Quaternion

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