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)
|
Text
202376.pdf - Published Version 1MB |
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 |
University Staff: Request a correction | Enlighten Editors: Update this record