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Investigation of the Attitude Error Vector Reference Frame in the INS EKF

Steffes, Stephen R. and Steinbach, Jan Philipp and Theil, Stephan (2011) Investigation of the Attitude Error Vector Reference Frame in the INS EKF. In: Springer-Verlag Berlin Heidelberg. pp. 345-358. ISBN 978-3-642-19816-8.

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Abstract

The Extended Kalman Filter is used extensively for inertial navigation. If initial attitude errors are small, many authors choose to represent the attitude states as a vector of small angles in the vehicle body frame. Some authors choose to represent this vector in the navigation frame instead, but the corresponding reduction of filter performance in the closed loop filter is not discussed. Performance is regained when switching to an open loop filter, but closed loop filters are widely desired. This paper investigates this performance reduction. To show the effect,Monte Carlo simulation results are shown for several cases with a simplified inertial navigation problem using a closed and open loop filter and attitude states in the body and inertial frames. A qualitative argument is given to explain the effects, which stem from a state propagation model that poorly reflects the true system model for this case. A method is proposed to regain performance by using an estimated inertial frame for the attitude states. This method is only beneficial when the attitude states are measured indirectly via the velocity state equation. Results with this new frame are shown and discussed.

Document Type:Contribution to a Collection
Title:Investigation of the Attitude Error Vector Reference Frame in the INS EKF
Authors:
AuthorsInstitution or Email of Authors
Steffes, Stephen R.stephen.steffes@dlr.de
Steinbach, Jan Philippjan.steinbach@hsuhh.de
Theil, Stephanstephan.theil@dlr.de
Date:2011
Refereed publication:Yes
Page Range:pp. 345-358
Editors:
EditorsEmail
Holzapfel, Florianflorian.holzapfel@tum.de
Theil, Stephanstephan.theil@dlr.de
Publisher:Springer-Verlag Berlin Heidelberg
ISBN:978-3-642-19816-8
Status:Published
Keywords:extended kalman filter, error state vector, reference frame
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Transport
DLR - Research area:Raumfahrt
DLR - Program:R RP - Raumtransport
DLR - Research theme (Project):R - SHEFEX Programm (old)
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Regelungs- und Datensysteme
Deposited By: Stephen Steffes
Deposited On:16 Feb 2012 09:42
Last Modified:12 Dec 2013 21:37

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