Attitude Estimation Using Rate Gyroscope and Angular Measurements using Extended Kalman Filter

Summary

 

The purpose of the project was to implement the Extended Kalman Filter to estimate the angular velocity, orientation, scaling factors, and the biases from the provided measured gyro and angular orientation obtained from a cellular phone while driving. To eliminate the problem of singularity in the matrix, the obtained Euler angles were converted to the Modified Rodrigues Parameter. There were 9 states, 3 states of orientation in the XYZ axis, 3 states of scaling factor, and 3 states of biases. The nonlinear estimated model was linearized and then the EKF was implemented to estimate the orientation and the angular velocities.

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