Three-Axis Attitude Determination with Pseudo-Bias Estimation from Gravity/Magnetic Vector Observations

Registro completo de metadados
MetadadosDescriçãoIdioma
Autor(es): dc.creatorSilva, Felipe O.-
Autor(es): dc.creatorMenezes Filho, Rogério P.-
Autor(es): dc.creatorVieira, Leonardo A.-
Autor(es): dc.creatorKuga, Hélio K.-
Autor(es): dc.creatorBarros, Ettore A. de-
Data de aceite: dc.date.accessioned2026-02-09T11:44:24Z-
Data de disponibilização: dc.date.available2026-02-09T11:44:24Z-
Data de envio: dc.date.issued2021-07-29-
Data de envio: dc.date.issued2021-07-29-
Data de envio: dc.date.issued2020-10-
Fonte completa do material: dc.identifierhttps://repositorio.ufla.br/handle/1/46832-
Fonte completa do material: dc.identifierhttps://doi.org/10.2514/1.G005253-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/capes/1146396-
Descrição: dc.descriptionThis paper revisits the stationary alignment problem of attitude and heading reference systems (AHRSs). The investigation is initiated from the three-axis attitude determination (TRIAD)–based method, purposely chosen to use nonunitary/nonorthogonal observations of the local gravity and Earth’s magnetic flux density vectors. For the simplifying assumption of body and navigation frames aligned, a comprehensive error analysis is developed, providing additional insight into the problem. Closed-form formulas for the residual normality and orthogonality errors are used to devise innovative pseudo-bias estimation (PBE) algorithms for the x- and z-axis magnetometer biases, as well as for the z-axis accelerometer bias. As a direct consequence of applying the latter, and also figuring as the main contribution of this paper, an improved (more accurate) AHRS stationary alignment approach is obtained, herein called TRIAD-PBE. The error analysis is extended to representative state-of-the-art attitude determination techniques, confirming the relevance of TRIAD-PBE, especially in the presence of hard-iron magnetism. Results from simulated and experimental tests confirm the adequacy of the outlined verifications.-
Idioma: dc.languageen-
Publicador: dc.publisherAmerican Institute of Aeronautics and Astronautics-
Direitos: dc.rightsrestrictAccess-
???dc.source???: dc.sourceJournal of Guidance, Control, and Dynamics-
Palavras-chave: dc.subjectMagnetometers-
Palavras-chave: dc.subjectAttitude and heading reference system-
Palavras-chave: dc.subjectAccelerometer-
Palavras-chave: dc.subjectMagnetic Flux-
Palavras-chave: dc.subjectSingular value decomposition-
Palavras-chave: dc.subjectKalman filter-
Palavras-chave: dc.subjectEarth's magnetic field-
Palavras-chave: dc.subjectMonte Carlo experiment-
Palavras-chave: dc.subjectHistograms-
Palavras-chave: dc.subjectGravimetria-
Palavras-chave: dc.subjectMagnetômetros-
Palavras-chave: dc.subjectSistema de referência de atitude e orientação-
Palavras-chave: dc.subjectAcelerômetro-
Palavras-chave: dc.subjectFluxo magnético-
Palavras-chave: dc.subjectDecomposição em valores singulares-
Palavras-chave: dc.subjectFiltro de Kalman-
Palavras-chave: dc.subjectCampo geomagnético-
Palavras-chave: dc.subjectMétodo de Monte Carlo-
Título: dc.titleThree-Axis Attitude Determination with Pseudo-Bias Estimation from Gravity/Magnetic Vector Observations-
Tipo de arquivo: dc.typeArtigo-
Aparece nas coleções:Repositório Institucional da Universidade Federal de Lavras (RIUFLA)

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