Attitude estimation from Kalman filter using sensor fusion via data from a gyroscope and accelerometer, providing angular velocity and a reference direction (direction of gravity), respectively. In the third of my three-part series, we first go over a MATLAB example of estimating position and velocity from noisy position data (altitude from sonar). We compare the estimated velocity with that from a finite-difference estimate and find the Kalman filter's is much smoother.
Finally, we discuss the problem of estimating attitude, and formulating the system model. We find that 3-2-1 Euler angles (yaw, pitch, and roll) are not a good state variable x as their evolution equation is not linear in x. However, quaternions q (i.e., Euler parameters ß) are a good attitude representation because their kinematic dynamical equation is linear. A gyroscope provides the angular velocity, ω, as measured in the body-fixed frame for a vehicle, spacecraft, or aircraft. Combining ω with a reference direction g that provides roll and pitch, we demonstrate the use of sensor fusion (from a gyroscope and accelerometer, respectively).
For both examples, construct a system model via the state transition matrix A, the state-to-measurement matrix H, and estimate the process noise and measurement noise matrices, Q and R.
💻 *Get the MATLAB Code* [ Ссылка ]
This special lecture series takes us into dynamic attitude estimation, using time-varying gyroscope data, as opposed to the previously covered *static* attitude estimation, which uses simultaneous measurements of known external objects.
Attitude Determination And Control System (ADCS)
► *Next: Moment of Inertia Matrix & Principal Axis Frame | MATLAB Example Calculation*
[ Ссылка ]
► *Previous, Kalman Filter for Beginners, Part 2 - Estimation and Prediction Process & MATLAB Example*
[ Ссылка ]
► More lectures posted regularly
Be informed, subscribe [ Ссылка ]
► *Prof. Shane Ross* 🌠 aerospace engineering professor, Virginia Tech
Background: Caltech PhD | worked at NASA/JPL & Boeing
Research website for @ProfessorRoss
[ Ссылка ]
► *Follow me*
[ Ссылка ]
► Space Vehicle Dynamics course videos (playlist)
[ Ссылка ]
► Lecture notes for Kalman Filter series (PDF)
[ Ссылка ]
► MATLAB Code
[ Ссылка ]
► Reference
Kalman Filter for Beginners: with MATLAB Examples
by Phil Kim (Author), Lynn Huh (Translator), 2010
[ Ссылка ]
► Inertial Measurement Unit Used (IMU Sensor)
WIT Motion, Gyroscope + Accelerometer + Magnetometer
[ Ссылка ]
► Chapters
0:00 Estimating Velocity From Position using Kalman Filter
5:08 Comparison with Finite Differences Approximation for Velocity
9:00 Dynamic Attitude Determination
9:53 WIT Motion Sensor
12:16 Integrating Gyroscope Angular Velocities from Sensor, MATLAB
18:00 Kalman Filter using Yaw, Pitch, Roll Euler Angles
20:30 Kalman Filter using Quaternions (Euler Parameters)
26:16 MATLAB Demo Using Quaternions
30:00 Data Fusion - Accelerometer with Gyroscope
39:01 Sensor Data Fusion Recap
► *Courses & Playlists by Dr. Ross*
📚Space Vehicle Dynamics
[ Ссылка ]
📚3-Body Problem Orbital Dynamics Course
[ Ссылка ]
📚Space Manifolds
[ Ссылка ]
📚Lagrangian and 3D Rigid Body Dynamics
[ Ссылка ]
📚Nonlinear Dynamics and Chaos
[ Ссылка ]
📚Hamiltonian Dynamics
[ Ссылка ]
📚Center Manifolds, Normal Forms, and Bifurcations
[ Ссылка ]
Implement a Kalman filter for dummies Visually Explained tutorial MATLAB aerospace mathematics recursion orbital physics chaos unstable Caltech JPL Lyapunov Celestial Mechanics Hamiltonian Jet Propulsion Lab Centaurs
#kalmanfilter #MATLAB #aerospace #attitude #attitudeestimation #sensorfusion #mathematics #recursion #orbitalmechanics #threebodyproblem #LagrangePoint #space #CR3BP #3body #3bodyproblem #SpaceManifolds #JamesWebb #NonlinearDynamics #gravity #SpaceTravel #SpaceManifold #DynamicalSystems #JamesWebbSpaceTelescope #space #solarSystem #NASA #dynamics #celestial #SpaceSuperhighway #InterplanetarySuperhighway #spaceHighway #spaceHighway #gravitational #mathematics #dynamicalAstronomy #astronomy #wormhole #physics #chaos #unstable #PeriodicOrbits #SaddlePoint #CriticalPoint #Halo #HaloOrbit #LibrationPoint #LagrangianPoint #LowEnergy #VirginiaTech #Caltech #JPL #LyapunovOrbit #CelestialMechanics #HamiltonianDynamics #planets #moons #multibody #GatewayStation #LunarGateway #L1gateway #ArchesOfChaos #cislunar #cislunarspace #orbitalDynamics #orbitalMechanics #celestialChaos #Chaotician #Boeing #JetPropulsionLab #Centaurs
