Nonrecursive fixed-interval smoothing-based approach to attitude estimation

We consider attitude estimation of objects equipped with gyroscopes in situations where fixed-interval smoothing is possible. A new nonrecursive attitude-estimation method based on Tikhonov regularization is proposed. The main benefit of the method is flexibility, which allows one to exploit observa...

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems 2014-07, Vol.50 (3), p.1884-1898
Main Authors: Nieminen, Tuukka, Kangas, Jari, Suuriniemi, Saku, Kettunen, Lauri
Format: Article
Language:English
Subjects:
Aerodynamics
Estimation
Gyroscopes
Mathematical model
Smoothing methods
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Summary:We consider attitude estimation of objects equipped with gyroscopes in situations where fixed-interval smoothing is possible. A new nonrecursive attitude-estimation method based on Tikhonov regularization is proposed. The main benefit of the method is flexibility, which allows one to exploit observations of unknown accuracy involving an arbitrary number of time instances. Such observations are essential especially in sports applications, yet the existing attitude-estimation algorithms fail to provide a way to exploit them.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2014.120027