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MAV quaternion attitude determination for accelerometer-magnetometer combination: Internal analysis

MAV Quaternion-Lagebestimmung für Beschleunigungsmesser-Magnetometer Kombination: Interne Analyse
Jin Wu

Jin Wu received the B.S. Degree from University of Electronic Science and Technology of China, Chengdu, China. His research interests include robot navigation, multi-sensor fusion, automatic control and mechatronics. He is a member of IEEE.

, Chengxi Zhang

Chengxi Zhang received his B.S. and M.S. degrees at Harbin Institute of Technology, China, in 2012 and 2015, Ph.D. in at Shanghai Jiao Tong University, in 2019. Currently he is a post-doc researcher at Harbin Institute of Technology, Shenzhen campus, China. His research interests are spacecraft control, event-based control and their applications.

and Zebo Zhou

Zebo Zhou was born in November, 1982 in Yongchuan, Chongqing, China. He received the B.Sc. and M.Sc. degrees in School of Geodesy and Geomatics from Wuhan University, Wuhan, China, in 2004 and 2006, respectively, and the Ph.D. degree from the College of Surveying and Geoinformatics, Tongji University, Shanghai, China in 2009. He was a visiting fellow with the Surveying & Geospatial Engineering Group, within the School of Civil & Environmental Engineering, University of New South Wales, Australia in 2009 and 2015. He is currently an associate professor with the School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, China. His research interests include GNSS navigation and positioning, GNSS/INS integrated navigation, multi-sensor fusion. Prof. Zhou has been in charge of projects of National Natural Science Foundation of China and has taken part in the National 863 High-tech Founding of China. He served as a Guest Editor of several special issues published on INTERNATIONAL JOURNAL OF DISTRIBUTED SENSOR NETWORKS and ASIAN JOURNAL OF CONTROL. He has been presenting related works on the annual conference of the institute of navigation (ION), the annual Chinese satellite navigation conference (CSNC) for several times and has received the best paper awards in these conferences.

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From the journal tm - Technisches Messen

Abstract

This paper proposes a novel fast deterministic quaternion attitude determination method for accelerometer and magnetometer combination (AMC). After taking insight to the attitude determination theory, an important relationship between the sensor outputs and the magnetometer’s reference vector is successfully derived. Based on the relationship, the optimal quaternion associated with the attitude of a certain object is easily calculated. The main breakthrough of this paper is that it significantly simplifies the determination of the magnetometer’s reference vector which always needs systematic calibration or iterative estimation in existing methods. We name the proposed method the Fast Accelerometer-Magnetometer Fusion (FAMF). Our proposed method has the advantages of better computation accuracy and less time consumption. Several experiments are carried out to illustrate the attitude determination results. Besides, comparisons with existing representative methods are also presented in the experimental section of this paper, which verify the effectiveness of the proposed FAMF. Finally, we experimentally show that the FAMF’s roll and pitch angles are immune to magnetic distortion, which ensures the robustness under complex environments for micro air vehicles (MAV).

Zusammenfassung

In diesem Beitrag wird eine neuartige, auf Quaternionen basierende Methode präsentiert, um die Orientierung einer Plattform im Raum aus Beschleunigungs- und Magnetfeldsensordaten (AMC) zu bestimmen. Nach einer Einführung in die Theorie der Lageschätzung wird eine wichtige Beziehung zwischen den Sensorausgangssignalen und dem Magnetometer-Referenzvektor abgeleitet. Darauf basierend wird die optimale Quaternion der Orientierung hergeleitet. Der Hauptaspekt dieses Betrags, die Entwicklung der Fast Accelerometer-Magnetometer Fusion (FAMF), besteht in der signifikanten Vereinfachung bei der Bestimmung des Magnetometer-Referenzvektors, welcher bei alternativen Schätzmethoden entweder iterativ bestimmt oder durch Kalibrierung festgelegt werden muss. Die vorgestellte Methode erlaubt, verglichen mit anderen Methoden, schnellere Berechnungen und ergibt eine kleinere Unsicherheit. Es werden mehrere Experimente dargestellt und analysiert, welche die Vorteile der vorgeschlagenen Methode illustrieren. Es wird weiters gezeigt, dass die nach FAMF bestimmten Roll- und Nick-Winkel unempfindlich gegenüber magnetischer Beeinflussung sind, was den Einsatz dieses robusten Verfahrens in magnetisch komplexer Umgebung erlaubt.

Award Identifier / Grant number: 41604025

Funding statement: This work is supported by the National Natural Science Foundation of China under grant No. 41604025, partially supported by Sichuan Province Science and Technology Project (No. 2018CC0018; 2018SZ0364).

About the authors

Jin Wu

Jin Wu received the B.S. Degree from University of Electronic Science and Technology of China, Chengdu, China. His research interests include robot navigation, multi-sensor fusion, automatic control and mechatronics. He is a member of IEEE.

Chengxi Zhang

Chengxi Zhang received his B.S. and M.S. degrees at Harbin Institute of Technology, China, in 2012 and 2015, Ph.D. in at Shanghai Jiao Tong University, in 2019. Currently he is a post-doc researcher at Harbin Institute of Technology, Shenzhen campus, China. His research interests are spacecraft control, event-based control and their applications.

Zebo Zhou

Zebo Zhou was born in November, 1982 in Yongchuan, Chongqing, China. He received the B.Sc. and M.Sc. degrees in School of Geodesy and Geomatics from Wuhan University, Wuhan, China, in 2004 and 2006, respectively, and the Ph.D. degree from the College of Surveying and Geoinformatics, Tongji University, Shanghai, China in 2009. He was a visiting fellow with the Surveying & Geospatial Engineering Group, within the School of Civil & Environmental Engineering, University of New South Wales, Australia in 2009 and 2015. He is currently an associate professor with the School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, China. His research interests include GNSS navigation and positioning, GNSS/INS integrated navigation, multi-sensor fusion. Prof. Zhou has been in charge of projects of National Natural Science Foundation of China and has taken part in the National 863 High-tech Founding of China. He served as a Guest Editor of several special issues published on INTERNATIONAL JOURNAL OF DISTRIBUTED SENSOR NETWORKS and ASIAN JOURNAL OF CONTROL. He has been presenting related works on the annual conference of the institute of navigation (ION), the annual Chinese satellite navigation conference (CSNC) for several times and has received the best paper awards in these conferences.

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Received: 2019-12-06
Accepted: 2020-06-13
Published Online: 2020-07-04
Published in Print: 2020-10-25

© 2020 Walter de Gruyter GmbH, Berlin/Boston

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