Paper Info
Title
Optimization of Control Parameter for Filter Algorithms for Attitude and Heading Reference Systems
Abstract
An Attitude and Heading Reference System (AHRS) provides orientation information of an object such as an Unmanned Air Vehicle by fusing sensor data from a magnetic and inertial measurement unit (MIMU). A MIMU consists of three components, which are a gyroscope, an accelerometer and a magnetometer. There are different fusion or filter algorithms available of which we have chosen the Mahony, the Madgwick, and the weighted filter. One of the shortcomings of all algorithms is that there is a control parameter involved in each which needs to be determined before applying the algorithms. Only an algorithm with an optimized control parameter achieves the best orientation information. Thus, a Particle Swarm Optimization algorithm is used to identify the control parameter of each filter algorithm. Experimental results show the influence the control parameter has on each algorithm.
Year
DOI
Venue
2018
10.1109/CEC.2018.8477725
2018 IEEE Congress on Evolutionary Computation (CEC)
Keywords
Field
DocType
orientation information,magnetic measurement unit,inertial measurement unit,optimized control parameter,heading reference systems,heading reference system,unmanned air vehicle,particle swarm optimization,control parameter optimization,attitude reference systems,sensor data fusion,gyroscope,accelerometer,magnetometer
Particle swarm optimization,Gyroscope,Accelerometer,Computer science,Quaternion,Algorithm,Magnetometer,Attitude and heading reference system,Inertial measurement unit,Filter algorithm
Conference
ISBN
Citations 
PageRank 
978-1-5090-6018-4
0
0.34
References 
Authors
5
1
Name
Order
Citations
PageRank
Simone A Ludwig11309179.41