#4974. Reliable attitude estimation algorithm considering atypical observation

July 2026publication date
Proposal available till 17-05-2025
4 total number of authors per manuscript0 $

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Journal’s subject area:
Computer Science Applications;
Theoretical Computer Science;
Control and Systems Engineering;
Information Systems and Management;
Software;
Artificial Intelligence;
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Abstract:
Attitude estimation has theoretical significance and engineering application value in tracking, control, navigation and positioning in the military and civil domain. A multisensor fusion system based on an inertial sensor gyroscope and a vision sensor camera was deployed in this study to enhance reliability and robustness. The integrated system fuses the outside-in camera and gyroscope together to obtain robust and high frequency attitude data. In inertial and visual integrated attitude measurement systems, when atypical observations resulting from mismatches of feature points, occlusions and frequency discrepancy occur, the performance of the fusion algorithm CKF (cubature Kalman filter) will decrease. The comparative experiments among filter-based methods indicate the flexibility of the CKF algorithm for the fusion system, and the CKF-NARX proves itself with lower errors and stability compared with CKF-only and CKF-BP methods.
Keywords:
Engineering application; sensor gyroscope; fusion algorithm; observations

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