Fusion of Diverse Performance Inertial Sensors for Improved Attitude Estimation Within a Stabilisation Platform for Electro-optic Systems

Brown, K., Anderson, D. , Watts, C. and Connor, B. (2019) Fusion of Diverse Performance Inertial Sensors for Improved Attitude Estimation Within a Stabilisation Platform for Electro-optic Systems. In: Image and Signal Processing for Remote Sensing XXV, Strasbourg, France, 09-12 Sep 2019, p. 1115516. (doi: 10.1117/12.2533060)

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Abstract

Within line of sight pointing and stabilisation of EO (Electro-optic) systems operating under motion disturbances it is desirable to measure the inertial orientation of different parts of the system, not just the line of sight - this would allow additional information to be added to the control loop. To implement this a framework to fuse the multiple inertial sensors of the EO system is considered, with an example implemented. The fusion of higher performance sensors located at the line of sight is implemented within the proposed framework, to improve the performance of the estimate at the location of the lower performance sensor. The fusion framework makes use of cascaded Multiplicative Extended Kalman Filter that estimate the multiplicative error of the quaternion orientation estimate.

Item Type:Conference Proceedings
Keywords:Orientation estimation, sensor fusion, filtering, servomechanisms, EKF.
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Brown, Kyle and Anderson, Dr David
Authors: Brown, K., Anderson, D., Watts, C., and Connor, B.
Subjects:T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
College/School:College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity
Research Group:Mast Lab
Publisher:SPIE
ISSN:0277-786X
Published Online:07 October 2019
Copyright Holders:Copyright © 2019 SPIE
First Published:First published in Proceedings of SPIE 11155: 1115516
Publisher Policy:Reproduced in accordance with the publisher copyright policy

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