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Pose Estimation of a Rigid Body and Its Supporting Moving Platform Using Two Gyroscopes and Relative Complementary Measurements
文献类型:会议
作者:Zhang, Yizhai[1]  Song, Kehao[2]  Yi, Jingang[3]  Duan, Zhansheng[4]  Pan, Quan[5]  Huang, Panfeng[6]  
机构:[1]Northwestern Polytech Univ, Res Ctr Intelligent Robot, Sch Astronaut, Xian 710072, Shaanxi, Peoples R China.;
[2]Northwestern Polytech Univ, Sch Automat, Dept Control & Informat, Xian 710072, Shaanxi, Peoples R China.,Minist Educ, Key Lab Informat Fus Technol LIFT, Xian, Peoples R China.;
[3]Rutgers State Univ, Dept Mech & Aerosp Engn, Piscataway, NJ 08854 USA.;
[4]Xi An Jiao Tong Univ, Dept Automat, Xian 710049, Shaanxi, Peoples R China.;
[5]Northwestern Polytech Univ, Sch Automat, Dept Control & Informat, Xian 710072, Shaanxi, Peoples R China.,Minist Educ, Key Lab Informat Fus Technol LIFT, Xian, Peoples R China.;
[6]Northwestern Polytech Univ, Res Ctr Intelligent Robot, Sch Astronaut, Xian 710072, Shaanxi, Peoples R China.;
年:2016
通讯作者:Zhang, YZ (reprint author), Northwestern Polytech Univ, Res Ctr Intelligent Robot, Sch Astronaut, Xian 710072, Shaanxi, Peoples R China.
会议名称:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
会议论文集:2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIG
页码范围:90-95
会议地点:Daejeon, SOUTH KOREA
会议开始日期:2016-01-01
收录情况:CPCI-S(WOS:000391921700013)  
所属部门:航天学院;自动化学院
人气指数:1340
浏览次数:1319
被引频次:1
语言:外文
摘要:
We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative attitude estimation between the rigid body and the platform, but also is capable of identifying partial global absolute attitudes without capturing any absolute attitude information. The pose estimation is built on a special design of the coupled kinematic model with the relative me ...More
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