Robust attitude estimation in the presence of magnetic disturbances
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The aim of this work is attitude determination in terrestrial environments utilizing a three-axis magnetometer (TAM) and a gyroscope. The TAM is rotated to determine gyro biases. Magnetic field disturbances are assumed to be present in the TAM frame alone. The challenge is to utilize TAM measurements to obtain attitude estimates in the presence of these disturbances. Both gyro biases and attitude are estimated using the Extended Kalman Filter. Simulations are shown to obtain good results without making any prior assumption about the nature of the disturbances. Convergence is obtained even for non-ideal initial conditions of gyro bias and attitude. Parametric studies are performed to see the effects of varying angular velocity and magnetic disturbance characteristics on gyro bias and attitude errors.