Abstract:Sensor measurements are corrupted by biases, noise and drift effects and, in order to provide accurate measurements, these errors need to be estimated and, thus, eliminated. The current model used an Extended Kalman filter for the estimation of rate gyroscope measurement errors. This work improves upon that filter by applying a more robust, more accurate and more reliable Unscented Kalman filter. In addition, an algorithm for estimating the accelerometer measurement errors is developed using control theory. Us… Show more
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