Passive attitude estimation using gyroscopes and all-accelerometer IMU

Yazan M. Al-Rawashdeh; Moustafa Elshafei; Sami El-Ferik

doi:10.1109/ICMAE.2016.7549568

Passive attitude estimation using gyroscopes and all-accelerometer IMU

Yazan M. Al-Rawashdeh
, Moustafa Elshafei
, Sami El-Ferik

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

In this paper, a novel approach to estimate a vehicle attitude using gyroscopes and an array of linear tri-axial accelerometers arranged in a certain configuration is presented. This configuration provides direct angular acceleration measurements that will be of great value once the quaternion dynamical equation is solved using Unscented Kalman filter. Various new states and measurements models based on the rotational quaternion are presented. Using this approach, estimating the attitude of a vehicle using linear accelerometers along with gyroscopes enables a completely passive attitude estimation under the simultaneous actions of vehicle varying center of gravity position, unknown varying gravitational field, and an accelerating vehicle without any singularity being involved in the states or measurements models which were not reported in the related literature to the best of authors' knowledge.

Original language	English
Title of host publication	Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	368-376
Number of pages	9
ISBN (Electronic)	9781467388290
DOIs	https://doi.org/10.1109/ICMAE.2016.7549568
State	Published - 23 Aug 2016

Publication series

Name	Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

all-accelerometer
attitude estimation
inertial navigation
passive

ASJC Scopus subject areas

Aerospace Engineering
Mechanical Engineering

Access to Document

10.1109/ICMAE.2016.7549568

Cite this

Al-Rawashdeh, Y. M., Elshafei, M., & El-Ferik, S. (2016). Passive attitude estimation using gyroscopes and all-accelerometer IMU. In Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016 (pp. 368-376). Article 7549568 (Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMAE.2016.7549568

Al-Rawashdeh, Yazan M. ; Elshafei, Moustafa ; El-Ferik, Sami. / Passive attitude estimation using gyroscopes and all-accelerometer IMU. Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 368-376 (Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016).

@inproceedings{8aa45e0edcfa446ba337bd3dda0dc377,

title = "Passive attitude estimation using gyroscopes and all-accelerometer IMU",

abstract = "In this paper, a novel approach to estimate a vehicle attitude using gyroscopes and an array of linear tri-axial accelerometers arranged in a certain configuration is presented. This configuration provides direct angular acceleration measurements that will be of great value once the quaternion dynamical equation is solved using Unscented Kalman filter. Various new states and measurements models based on the rotational quaternion are presented. Using this approach, estimating the attitude of a vehicle using linear accelerometers along with gyroscopes enables a completely passive attitude estimation under the simultaneous actions of vehicle varying center of gravity position, unknown varying gravitational field, and an accelerating vehicle without any singularity being involved in the states or measurements models which were not reported in the related literature to the best of authors' knowledge.",

keywords = "all-accelerometer, attitude estimation, inertial navigation, passive",

author = "Al-Rawashdeh, \{Yazan M.\} and Moustafa Elshafei and Sami El-Ferik",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.",

year = "2016",

month = aug,

day = "23",

doi = "10.1109/ICMAE.2016.7549568",

language = "English",

series = "Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "368--376",

booktitle = "Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016",

address = "United States",

}

Al-Rawashdeh, YM, Elshafei, M & El-Ferik, S 2016, Passive attitude estimation using gyroscopes and all-accelerometer IMU. in Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016., 7549568, Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016, Institute of Electrical and Electronics Engineers Inc., pp. 368-376. https://doi.org/10.1109/ICMAE.2016.7549568

Passive attitude estimation using gyroscopes and all-accelerometer IMU. / Al-Rawashdeh, Yazan M.; Elshafei, Moustafa; El-Ferik, Sami.
Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 368-376 7549568 (Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Passive attitude estimation using gyroscopes and all-accelerometer IMU

AU - Al-Rawashdeh, Yazan M.

AU - Elshafei, Moustafa

AU - El-Ferik, Sami

PY - 2016/8/23

Y1 - 2016/8/23

N2 - In this paper, a novel approach to estimate a vehicle attitude using gyroscopes and an array of linear tri-axial accelerometers arranged in a certain configuration is presented. This configuration provides direct angular acceleration measurements that will be of great value once the quaternion dynamical equation is solved using Unscented Kalman filter. Various new states and measurements models based on the rotational quaternion are presented. Using this approach, estimating the attitude of a vehicle using linear accelerometers along with gyroscopes enables a completely passive attitude estimation under the simultaneous actions of vehicle varying center of gravity position, unknown varying gravitational field, and an accelerating vehicle without any singularity being involved in the states or measurements models which were not reported in the related literature to the best of authors' knowledge.

AB - In this paper, a novel approach to estimate a vehicle attitude using gyroscopes and an array of linear tri-axial accelerometers arranged in a certain configuration is presented. This configuration provides direct angular acceleration measurements that will be of great value once the quaternion dynamical equation is solved using Unscented Kalman filter. Various new states and measurements models based on the rotational quaternion are presented. Using this approach, estimating the attitude of a vehicle using linear accelerometers along with gyroscopes enables a completely passive attitude estimation under the simultaneous actions of vehicle varying center of gravity position, unknown varying gravitational field, and an accelerating vehicle without any singularity being involved in the states or measurements models which were not reported in the related literature to the best of authors' knowledge.

KW - all-accelerometer

KW - attitude estimation

KW - inertial navigation

KW - passive

UR - https://www.scopus.com/pages/publications/84987984636

U2 - 10.1109/ICMAE.2016.7549568

DO - 10.1109/ICMAE.2016.7549568

M3 - Conference contribution

AN - SCOPUS:84987984636

T3 - Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016

SP - 368

EP - 376

BT - Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Al-Rawashdeh YM, Elshafei M, El-Ferik S. Passive attitude estimation using gyroscopes and all-accelerometer IMU. In Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 368-376. 7549568. (Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016). doi: 10.1109/ICMAE.2016.7549568

Passive attitude estimation using gyroscopes and all-accelerometer IMU

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this