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Cristin-resultat-ID:
1061433
Sist endret:
29. oktober 2013, 14:24
Resultat
Vitenskapelig foredrag
2013
Implementation and Comparison of Attitude Estimation Methods for Agricultural Robotics
Trygve Utstumo
og
Jan Tommy Gravdahl
Presentasjon
Presentasjon
Navn på arrangementet: 4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry, 2013
Sted: Aalto University, Espoo
Dato fra:
28. august 2013
Dato til:
30. august 2013
Arrangør:
Arrangørnavn: International Federation of Automatic Control
Om resultatet
Om resultatet
Vitenskapelig foredrag
Publiseringsår: 2013
Beskrivelse
Beskrivelse
Engelsk
Tittel
Implementation and Comparison of Attitude Estimation Methods for Agricultural Robotics
Sammendrag
The field of precision agriculture increasingly utilize and develop robotics for various applications, many of which are dependent on high accuracy localization and attitude estimation. Special attention has been put towards full attitude estimation by low-cost sensors, in relation to the development of an autonomous field robot. Quaternions have been chosen due to its continuous nature, and with respect to applications in the pipeline with on other platforms. The performance and complexity of two approaches to attitude estimation has been investigated: One Multiplicative Extended Kalman Filter (MEKF) and one non-linear observer. Both were implemented on an ARM Cortex M3 microcontroller with sensors for a Attitude Heading Reference System (AHRS), and benchmarked towards a relative high grade commercial AHRS device. The relative computational burden of the MEKF have been underlined, by execution times more than 10 times those of the non-linear estimator. The implementation complexity is also significantly lower for the non-linear observer, which facilitate test and verification through more transparent software.
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Bidragsytere
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Forfatter
ved Institutt for teknisk kybernetikk ved Norges teknisk-naturvitenskapelige universitet
Jan Tommy Gravdahl
Forfatter
ved Institutt for teknisk kybernetikk ved Norges teknisk-naturvitenskapelige universitet
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