| Residential College | false |
| Patent Number | 17682066 |
| Status | 申請中 Pending |
| Attitude estimation method, terminal, system and computer-readable storage medium | |
| Year Issued | 2024 |
| 2023-08-31 | |
| Application Number | 17682066 |
| Application Date | 2022-08-31 |
Joel Oliveira Reis  ; Pedro Batista; CARLOS JORGE FERREIRA SILVESTRE; Paulo Oliveira
| |
| Country | USA |
| Subtype | 发明专利 Invention |
| Abstract | Disclosed are an attitude estimation method, a terminal, a system and a computer-readable storage medium. For the problem of attitude and sensor bias estimation, a cascade solution method is provided. The first part of the cascade is a Kalman filter applied to an LTV system, and the second part of the cascade is a nonlinear attitude observer built in SO (3). In the estimation process, only one constant inertial reference vector needs to be measured explicitly in body-fixed coordinates, and the complexity of the attitude estimation algorithm is greatly simplified by exploiting the geometric relationship between the inertial reference vector and the Earth angular velocity vector. At the same time, the time-varying characteristics of the implemented Kalman filter help to avoid the tedious empirical gain adjustment process that often relies on sets of piecewise constant gains, to improve the convergence speed of the algorithm. |
| Keyword | Attitude Determination |
| Language | 英語English |
| Document Type | Patent |
| Collection | Faculty of Science and Technology DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING DEPARTMENT OF OCEAN SCIENCE AND TECHNOLOGY |
| Corresponding Author | Joel Oliveira Reis |
| Affiliation | 1.University of Macau, Faculty of Science and Technology, Department of Electrical and Computer Engineering, Macao 2.Institute for Systems and Robotics, Institute Superior Técnico, Universidade de Lisboa, Lisboa, Portugal 3.University of Macau, Faculty of Science and Technology, Department of Electrical and Computer Engineering, Macao 4.Institute for Systems and Robotics, Institute Superior Técnico, Universidade de Lisboa, Lisboa, Portugal |
| Recommended Citation GB/T 7714 | Joel Oliveira Reis,Pedro Batista,CARLOS JORGE FERREIRA SILVESTRE,et al. Attitude estimation method, terminal, system and computer-readable storage medium. 17682066[P]. 2023-08-31. |
| APA | Joel Oliveira Reis., Pedro Batista., CARLOS JORGE FERREIRA SILVESTRE., & Paulo Oliveira (2022-08-31). Attitude estimation method, terminal, system and computer-readable storage medium. |
| Files in This Item: | Download All | |||||
| File Name/Size | Publications | Version | Access | License | ||
| US20230271727A1.pdf（1524KB） | 专利 | 开放获取 | CC BY-NC-SA | View Download | ||
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