Adaptive Compensation Method Based on STCKF for AHRS

DOI

10.2991/icmeit-16.2016.2How to use a DOI?

Keywords

AHRS, electronic compass, magnetic deviation, STCKF, adaptive compensation.

Abstract

Aimed at the problem that the compensation method for attitude and heading reference system (AHRS) cannot adapt the changing magnetic field environment, an adaptive compensation method based on strong tracking cubature Kalman filter (STCKF) is putted forward. The system equation of magnetic deviation model is gave out by Poisson equation.With reference to the strong tracking filter (STF), a strong tracking cubature Kalman filter (STCKF) is proposed by introducing a time-varying fading factor to estimate the model parameter in real time. Then adaptive compensation is realized. The results show that adaptive compensation method based on STCKF can adapt the changing magnetic field environment very well and have the higher precision than the compensation method using Kalman filter (KF).

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Shengfeng Gao
AU  - Hai Zhu
AU  - Zhengdong Guo
PY  - 2016/08
DA  - 2016/08
TI  - Adaptive Compensation Method Based on STCKF for AHRS
BT  - Proceedings of the 2016 International Conference on Mechatronics Engineering and Information Technology
PB  - Atlantis Press
SP  - 9
EP  - 17
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmeit-16.2016.2
DO  - 10.2991/icmeit-16.2016.2
ID  - Gao2016/08
ER  -