Adaptive quaternion particle filter using generalized likelihood ratio test for aircraft attitude estimation in the presence of anomalous measurement

Zhou, Zhaihe; Zhang, Qianyun; Liu, Qiqi; Zeng, Qingxi; Tian, Xiangrui

doi:10.1088/1361-6501/abcd6c

Cited by 5 publications

(3 citation statements)

References 27 publications

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“…There are generally three algorithms for updating the attitude of a motion carrier: Euler angle method, quaternion method, and direction cosine method [20]. The advantage of the Euler angle method is that it directly solves the differential equation of the attitude angle, which is concise, intuitive, and easy to understand.…”

Section: Methods For Updating the Attitude Of A Sports Carriermentioning

confidence: 99%

Method for measuring non-stationary motion attitude based on MEMS-IMU array data fusion and adaptive filtering

Lan,

Wang,

Song

et al. 2024

Meas. Sci. Technol.

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The error characteristics of a typical commercial MEMS-IMU were analyzed. Using 15 ICM-42688 sensors, a 3*5 MEMS-IMU array was designed, and a weighted data fusion method based on Allan variance for the MEMS-IMU array was proposed. This effectively reduces the random measurement errors of the MEMS-IMU, providing a data foundation for the precise measurement of motion and attitude of robots, vehicles, aircraft, and other systems under low-cost conditions. The text describes a measurement method for non-stationary motion attitudes of sports vehicles based on adaptive Kalman-Mahony. Specifically, it first uses adaptive Kalman filtering on array sensor data to calculate the measurement noise in real-time and adaptively adjust the filtering gain. Then, it determines the compensation coefficient of the accelerometer to the gyroscope angular velocity based on the motion state of the vehicle, and solves the attitude through complementary filtering to obtain the motion attitude quaternion. Finally, it converts it into the roll angle, pitch angle, and yaw angle of the sports vehicle. Experimental results show that the proposed MEMS-IMU array weighted data fusion method based on Allan variance has significant advantages over traditional single MEMS-IUM methods and traditional average weighting methods in reducing sensor angle random walk and zero drift instability. The proposed adaptive Kalman-Mahony attitude measurement method also shows a significant improvement in the accuracy of non-stationary motion attitude measurement compared to traditional methods.

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Section: Methods For Updating the Attitude Of A Sports Carriermentioning

confidence: 99%

Method for measuring non-stationary motion attitude based on MEMS-IMU array data fusion and adaptive filtering

Lan,

Wang,

Song

et al. 2024

Meas. Sci. Technol.

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“…Quaternions are mathematical tools used to represent affine transformations, rotations, and projections, and are widely used in aircraft control [16], robotic arm positioning [17] and transformation control [18], autonomous underwater vehicle control, helicopter attitude control, and other fields. Quaternions are an extension of complex numbers, consisting of one real part and three imaginary parts, represented as: q = q 0 + q 1 i + q 2 j + q 3 k ,where ijk = −1.…”

Section: Quaternions Model For Quadrotor Uavmentioning

confidence: 99%

Trajectory Tracking Control of Quadrotor Based on Fractional-Order S-Plane Model

Chen

Chang

et al. 2023

Machines

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Quadrotors possess traits such as under-actuation, nonlinearity, and strong coupling. Quaternions are primarily used for attitude calculations in drones, with error quaternions seldom being employed directly in the control of specific quadcopter drones. This paper focuses on the low tracking accuracy and weak anti-interference ability of quadcopter drones in trajectory-tracking control. By establishing the quadcopter quaternion model, a controller based on quaternion error is designed through a combination of fractional-order PID control with S-plane control. Trajectory-tracking experiments demonstrate that, in comparison with fractional-order PID, this method exhibits strong wind disturbance resistance and high tracking accuracy.

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“…The focus of this work is to implement the alternative representation of the Euler angles and rotation matrix in 3D space. The application of quaternion in control was reported on aircraft [8,9], orientation and translation control of manipulators [10,11], control of autonomous underwater vehicles [12][13][14][15], helicopter attitude control [16], etc. Terze et al used quaternion representation of the rotational dynamics for aircraft simulators and introduced shifting update-process to ensure precise integration in long flight simulations [8].…”

Section: Introductionmentioning

confidence: 99%

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

2022

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The quaternion is a powerful and common tool to avoid singularity in rotational dynamics in three-dimensional (3D) space. Here it has been particularly used as an alternative to Euler angles and rotation matrix. The application of the quaternion is exercised in quadrotor modeling and control. It changes the dynamics and represents a singularity-free attitude model. Here for the first time (for the best knowledge of authors), the state-dependent differential Riccati equation (SDDRE) control has been implemented on the quaternion-based model of a quadcopter. The proposed control structure is capable of aerobatic flight, and the Pugachev’s Cobra maneuver is chosen to assess the capability of the quaternion-based SDDRE approach. The introduced control simulator is validated by comparison with conventional dynamics based on Euler angles, controlled using a proportional-derivative (PD) controller on a normal regulation flight. The simulator successfully performed the Cobra maneuver and also validated the proposed structure. The more precision in regulation along with lower energy consumption demonstrated the superiority of the introduced approach.

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Adaptive quaternion particle filter using generalized likelihood ratio test for aircraft attitude estimation in the presence of anomalous measurement

Cited by 5 publications

References 27 publications

Method for measuring non-stationary motion attitude based on MEMS-IMU array data fusion and adaptive filtering

Method for measuring non-stationary motion attitude based on MEMS-IMU array data fusion and adaptive filtering

Trajectory Tracking Control of Quadrotor Based on Fractional-Order S-Plane Model

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

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