Adaptive attitude quaternion Kalman filter based on factored quaternions
ZHANG De-xian
NIE Gui-gen
Abstract：The quaternion Kalman filter based on Clifford algebra cannot estimate each Euler angle separately while fus-ing gyro/accelerator/magnetometer observations because the parameters of quaternions are not one-to-one corresponding to the parameters of Euler angles.That makes the whole estimation results affected by disturbed magnetic field obser-vations,even though the accelerator observations are reliable.In order to eliminate the affection to roll and pitch angle components in quaternions caused by magnetic field observations,this paper recombined the observations of gravity and magnetic field with factored quaternions.Beside,in order to reduce the impact of magnetic and linear acceleration inter-ference to attitude estimation,this paper constructed adaptive noise covariance of observations and adaptive interference compensations of observations.Compared to the original quaternion Kalman filter,experiments based on consumption-level micro-electro-mechanical system(MEMS)sensors showed that the anti-interference ability of the modified one has been improved markedly.However,two empirical parameters were introduced into the adaptive procedure.Therefore,its working range remains to test.
Keywords：Kalman filtersquaternionadaptive algorithmsattitude estimationinertial sensorsmagnetometer
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 367-374 )