Error analysis of accelerometer- and magnetometer-based stationary alignment

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MetadadosDescriçãoIdioma
Autor(es): dc.creatorSilva, Felipe O.-
Autor(es): dc.creatorPaiva, P. S.-
Autor(es): dc.creatorCarvalho, Gustavo S.-
Data de aceite: dc.date.accessioned2026-02-09T11:32:13Z-
Data de disponibilização: dc.date.available2026-02-09T11:32:13Z-
Data de envio: dc.date.issued2022-01-19-
Data de envio: dc.date.issued2022-01-19-
Data de envio: dc.date.issued2020-
Fonte completa do material: dc.identifierhttps://repositorio.ufla.br/handle/1/48931-
Fonte completa do material: dc.identifierhttps://www.mdpi.com/1424-8220/21/6/2040-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/capes/1142084-
Descrição: dc.descriptionThis paper revisits the stationary attitude initialization problem, i.e., the stationary alignment, of Attitude and Heading Reference Systems (AHRSs). A detailed and comprehensive error analysis is proposed for four of the most representative accelerometer- and magnetometer-based stationary attitude determination methods, namely, the Three-Axis Attitude Determination (TRIAD), the QUaternion ESTimator (QUEST), the Factored Quaternion Algorithm (FQA), and the Arc-TANgent (ATAN). For the purpose of the error analysis, constant biases in the accelerometer and magnetometer measurements are considered (encompassing, hence, the effect of hard-iron magnetism), in addition to systematic errors in the local gravity and Earth magnetic field models (flux density magnitude, declination angle, and inclination angle). The contributions of this paper are novel closed-form formulae for the residual errors (normality, orthogonality, and alignment errors) developed in the computed Direction Cosine Matrices (DCM). As a consequence, analytical insight is provided into the problem, allowing us to properly compare the performance of the investigated alignment formulations (in terms of ultimate accuracy), as well as to remove some misleading conclusions reported in previous works. The adequacy of the proposed error analysis is validated through simulation and experimental results.-
Idioma: dc.languageen-
Publicador: dc.publisherMultidisciplinary Digital Publishing Institute (MDPI)-
Direitos: dc.rightsrestrictAccess-
???dc.source???: dc.sourceSensors-
Palavras-chave: dc.subjectNavigation-
Palavras-chave: dc.subjectAttitude and Heading Reference Systems (AHRSs)-
Palavras-chave: dc.subjectAccelerometer-
Palavras-chave: dc.subjectMagnetometer-
Palavras-chave: dc.subjectStationary alignment-
Palavras-chave: dc.subjectError analysis-
Título: dc.titleError analysis of accelerometer- and magnetometer-based stationary alignment-
Tipo de arquivo: dc.typeArtigo-
Aparece nas coleções:Repositório Institucional da Universidade Federal de Lavras (RIUFLA)

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