Smoother based 3D attitude estimation for mobile robot localization
Authors:
- 20 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 1979-1986
Abstract
The mobile robot localization problem is decomposed intotwo stages; attitude estimation followed by position estimation.The innovation of our method is the use ofa smoother, in the attitude estimation loop that outperformsother Kalman fiter based techniques in estimateaccuracy. The smoother exploits the special nature ofthe data fused; high frequency inertial sensor (gyroscope)data and low frequency absolute orientation data (froma compass or sun sensor). Two Kalman filters form the...Keywords
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