Multisensor approach in linear-Gaussian estimation of 3-D angular motion

Marcelo C. Algrain; Jafar Saniie

doi:10.1117/12.45636

1 July 1991 Multisensor approach in linear-Gaussian estimation of 3-D angular motion

Marcelo C. Algrain, Jafar Saniie

Proceedings Volume 1478, Sensors and Sensor Systems for Guidance and Navigation; (1991) https://doi.org/10.1117/12.45636
Event: Orlando '91, 1991, Orlando, FL, United States

Abstract

This paper addresses the real-time estimation of rigid-body angular motion in 3-D space. The method obtains covariances of the 'true' 3-D angular velocity, the angular velocity measurement and the measurement noise, from the time averages of the outputs of an array of nine linear accelerometers and the outputs of three orthogonal gyroscopes. These statistics are used by the estimator to calculate the 3-D angular velocity of the rigid-body. The multisensor technique performance is evaluated through a computer simulation. The results indicate the new method leads to more accurate angular velocity values than are obtained conventionally.

Citation Download Citation

Marcelo C. Algrain and Jafar Saniie "Multisensor approach in linear-Gaussian estimation of 3-D angular motion", Proc. SPIE 1478, Sensors and Sensor Systems for Guidance and Navigation, (1 July 1991); https://doi.org/10.1117/12.45636

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