SIMPLIFIED METHOD FOR ESTIMATING THE ORIENTATION OF AN OBJECT, AND ATTITUDE SENSOR IMPLEMENTING SUCH A METHOD

摘要

The invention relates to a method for estimating the orientation of an object in space at a moment k using measurements of the total acceleration (yA), of the magnetic field (yM), and of the rotational speed (yG) of said object on the three spatial axes, comprising a step of preprocessing (210, 220, 230) said measurements (yA, yM, yG) at a moment k so as to detect the existence of an interference in said measurements, and calculate corrected measurements at the moment k, and a step of estimating the orientation (formula I) at the moment k by an observer from the corrected measurements (formula II) at the moment k from the preprocessing step. The estimation step advantageously includes the use of matrices for transforming the object frame of reference into a fixed frame, said matrices being applied, in the event of an interference, to a quaternion deduced from the integration of a rotational-speed measurement made with an orientation quaternion calculated at the moment k-1.