Velocity Aided, Correlated Noise Extended Kalman Filtering for Attitude Estimation: a Motorcycle Case Study

机译：速度辅助，相关噪声扩展卡尔曼滤波态度估计：摩托车案例研究

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Vehicle attitude estimation is nowadays essential for a wide range of applications, e.g. guidance of unmanned vehicles, robotics and automotive controls. In this paper, the attitude estimation problem is solved by means of a velocity-aided, Extended Kalman Filter with correlated noise (CEKF), exploiting the intrinsic correlation between sensor noise in a velocity-aided model. Reconstruction of a motorcycle attitude is considered as a use case. The problem is addressed in a simulation scenario under noisy measurements. Performance of the CEKF is compared to that of the classic EKF formulation by evaluating the RMS of the reconstruction error.

机译：现在，车辆姿态估计对于广泛的应用是必不可少的，例如，无人驾驶车辆，机器人和汽车控制的指导。在本文中，通过速度辅助的延伸卡尔曼滤波器解决了姿态估计问题，具有相关噪声（CEKF），利用速度辅助模型中的传感器噪声之间的内在相关性。重建摩托车态度被认为是用例。在噪声测量下的仿真方案中解决了问题。通过评估重建误差的RMS来将CEKF的性能与经典EKF制定的性能进行比较。

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《Mediterranean Conference on Control and Automation》|2021年|305-310|共6页
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Mattia Bruschetta; Luca Caiaffa; Enrico Picotti; Alessandro Beghi;
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Correlation; Magnetometers; Estimation; Motorcycles; Robot sensing systems; Unmanned vehicles; Noise measurement;

机译：相关性;磁力计;估计;摩托车;机器人传感系统;无人驾驶车辆;噪声测量;

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1. Nonlinear filtering for sequential spacecraft attitude estimation with real data: Cubature Kalman Filter, Unscented Kalman Filter and Extended Kalman Filter [J] . Garcia R. V., Pardal P. C. P. M., Kuga H. K., Advances in space research . 2019,第2期

机译：用于使用实际数据进行连续航天器姿态估计的非线性滤波：Cubature Kalman滤波，Unscented Kalman滤波和Extended Kalman滤波
2. Nonlinear filtering for sequential spacecraft attitude estimation with real data: Cubature Kalman Filter, Unscented Kalman Filter and Extended Kalman Filter [J] . Garcia R. V., Pardal P. C. P. M., Kuga H. K., Journal of neurosurgical sciences . 2019,第2期

机译：具有真实数据的连续航天器姿态估计的非线性滤波：Cubature Kalman滤波器，Unscented Kalman滤波器和扩展卡尔曼滤波器
3. Robust extended Kalman filter for attitude estimation with multiplicative noises and unknown external disturbances [J] . Qian Hua-ming, Huang Wei, Qian Lin-chen, Control Theory & Applications, IET . 2014,第15期

机译：鲁棒的扩展卡尔曼滤波器，用于乘性噪声和未知外部干扰的姿态估计
4. Comparative Study of Extended Kalman Filter and Particle Filter for Attitude Estimation in Gyroless Low Earth Orbit Spacecraft [C] . Nor Hazadura Hamzah, Sazali Yaacob, Hariharan Muthusamy, International Conference on Computer Science, Applied Mathematics and Applications . 2015

机译：络延长卡尔曼滤波器与粒子滤波器在陀螺仪低地轨道轨道轨道上的比较研究
5. Attitude Estimation of Quadcopter through Extended Kalman Filter. [D] . Liang, Wenjing. 2017

机译：通过扩展卡尔曼滤波器的四轴飞行器姿态估计。
6. A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots [O] . Ákos Odry, Istvan Kecskes, Peter Sarcevic, 2020

机译：新型模糊自适应扩展卡尔曼滤波在移动机器人实时姿态估计中的应用
7. Invariant extended kalman filter: theory and application to a velocity-aided attitude estimation problem [O] . Silvère Bonnabel, Erwan Salaün 2014

机译：不变扩展卡尔曼滤波器：理论和应用于速度辅助姿态估计问题

Velocity Aided, Correlated Noise Extended Kalman Filtering for Attitude Estimation: a Motorcycle Case Study

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