Error State FIR Filter and Its Application in Quaternion Based on Attitude Estimation
摘要
In this paper, an attitude estimation method based on the error state FIR filtering (ESFIR) algorithm is proposed for the inertial measurement unit (IMU) attitude estimation problem. It takes the error state of acceleration as the state quantity and realizes the filtering of the signal by dynamically adjusting the coefficients, so as to correct the attitude of the IMU. Experiments prove that the method can effectively reduce the error and play a positive role in improving the attitude estimation accuracy.