Attitude Determination of Vehicles Using Fuzzy Kalman Filter

• Main Authors: Wei-Qun Xu, 徐偉群
• Other Authors: Zhen-Zhou Lin
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/77327566906306858855

碩士 === 國立臺灣海洋大學 === 機械與輪機工程學系 === 92 === In this thesis the attitude determination of vehicles is investigated based on fuzzy Kalman filter theory, and the estimation algorithm is tested by simulation programs and by experiments. The inertia navigation system developed in this research adopts four sets of tri-axial accelerometers which are arranged by the complementary orthogonal configuration. The system describes the spatial attitude of a vehicle using the quaternion representation. The advantage of the above system is that one less integration is needed in the estimation process, so as to avoid the accumulation of integration error. One prerequisite for Kalman filter is that the information of the process noise covariance and measurement noise covariance should be known in advance in order to derive best estimation result. Hence the fuzzy logic is used in this research to enhance the accuracy of noise approximation, so that the computational divergence can be avoided. The algorithm is tested under numerical simulation and experiments on the attitude estimation of a motion platform. The simulation and experimental results show that the algorithm is feasible and satisfactory.