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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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Quaternion-Based Robust Attitude Estimation Using an Adaptive Unscented Kalman Filter.

Antônio C B Chiella1, Bruno O S Teixeira2, Guilherme A S Pereira3

  • 1Graduate Program in Electrical Engineering, Universidade Federal de Minas Gerais, Belo Hotizonte 31270-901, Brazil. acbchiella@ufmg.br.

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Summary
This summary is machine-generated.

This study introduces a robust adaptive unscented Kalman filter using quaternions for accurate attitude estimation. The new method enhances sensor reliability against various disturbances, outperforming existing solutions.

Keywords:
MARG sensoradaptive filteringunit quaternionunscented Kalman filter

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Area of Science:

  • Robotics
  • Control Systems
  • Estimation Theory

Background:

  • Accurate attitude estimation is crucial for robotic systems.
  • Standard Kalman filters struggle with non-linearities and sensor noise.
  • Unit quaternions offer advantages for representing orientations.

Purpose of the Study:

  • To develop a robust attitude estimation algorithm.
  • To enhance the Unscented Kalman Filter (UKF) for quaternion-based systems.
  • To improve resilience against measurement uncertainty variations.

Main Methods:

  • Quaternion-based Robust Adaptive Unscented Kalman Filter (QRAUKF).
  • Online tuning of measurement covariance matrix via covariance matching.
  • Outlier detection algorithm for rejecting abrupt sensor perturbations.

Main Results:

  • The QRAUKF demonstrated robustness against fast and slow perturbations.
  • The algorithm effectively handled external magnetic field interference and linear accelerations.
  • Experimental results showed superior performance compared to commercial and open-source methods.

Conclusions:

  • The QRAUKF provides a reliable solution for attitude estimation in challenging environments.
  • The adaptive and outlier rejection strategies enhance filter performance.
  • This method offers a significant improvement over existing attitude estimation techniques.