Volume 20, Issue 3 (JIAEEE Vol.20 No.3 2023)
Journal of Iranian Association of Electrical and Electronics Engineers 2023, 20(3): 149-158 |
Back to browse issues page
Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
Sadeghzadeh Nokhodberiz N, Soltani B, Pasand M, Radmanesh H. Additive Multi-rate Delayed Extended Kalman Filter Attitude Estimation Fusing Gyroscope and Star Tracker Sensors. Journal of Iranian Association of Electrical and Electronics Engineers 2023; 20 (3) :149-158
URL: http://jiaeee.com/article-1-1475-en.html
URL: http://jiaeee.com/article-1-1475-en.html
Qom university of technology
Abstract: (801 Views)
In this paper, information of gyroscope and star tracker attitude sensors are fused for attitude estimation in the presence multi-rate sensors and the star tracker measurement delay. To this end, the extended Kalman filter (EKF) is modified to reduce the computation burden avoiding computation repetitions after arrival of the delayed multi-rate measurements. The algorithm is modified such that it is truly estimating the attitude in the absence of the star tracker measurements due to low sampling rate frequency and the estimation is optimized after its arrival. Toward this, the idea of predicting the measurement model, firstly proposed in [7], is employed and extended for the EKD based attitude estimation in the presence of multi-rate gyroscope and star tracker sensory information and delay in the star tracker measurement is also involved in the proposed method. The efficiency of the proposed method is finally demonstrated through both simulation and experimental data.
Type of Article: Research |
Subject:
Control
Received: 2022/06/3 | Accepted: 2023/04/8 | Published: 2023/05/24
Received: 2022/06/3 | Accepted: 2023/04/8 | Published: 2023/05/24
Extended Abstract [PDF 330 KB] (16 Download)
Send email to the article author
| Rights and permissions | |
 |
This Journal is an open access Journal Licensed under the Creative Commons Attribution-NonCommercial 4.0 International License. (CC BY NC 4.0) |
