{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,12]],"date-time":"2025-11-12T13:54:09Z","timestamp":1762955649393,"version":"build-2065373602"},"reference-count":27,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2016,10,16]],"date-time":"2016-10-16T00:00:00Z","timestamp":1476576000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61533008","61374115","61533009","61673208"],"award-info":[{"award-number":["61533008","61374115","61533009","61673208"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Foundation of Jiangsu Key Laboratory \u201cInternet of Things and Control Technologies\u201d &amp; the Priority Academic Program Development of Jiangsu Higher Education Institutions"},{"name":"the peak of six personnel in Jiangsu Province","award":["2013-JY-013"],"award-info":[{"award-number":["2013-JY-013"]}]},{"name":"the Fundamental Research Funds for the Central Universities","award":["NZ2016104","NP2015406","NP20152212"],"award-info":[{"award-number":["NZ2016104","NP2015406","NP20152212"]}]},{"name":"Jiangsu Innovation Program for Graduate Education","award":["CXLX13_156","CXZZ12_0159"],"award-info":[{"award-number":["CXLX13_156","CXZZ12_0159"]}]},{"name":"Nanjing University of Aeronautics &amp; Astronautics graduate innovation base (Laboratory) open fund","award":["kfjj20160320"],"award-info":[{"award-number":["kfjj20160320"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper describes a disturbance acceleration adaptive estimate and correction approach for an attitude reference system (ARS) so as to improve the attitude estimate precision under vehicle movement conditions. The proposed approach depends on a Kalman filter, where the attitude error, the gyroscope zero offset error and the disturbance acceleration error are estimated. By switching the filter decay coefficient of the disturbance acceleration model in different acceleration modes, the disturbance acceleration is adaptively estimated and corrected, and then the attitude estimate precision is improved. The filter was tested in three different disturbance acceleration modes (non-acceleration, vibration-acceleration and sustained-acceleration mode, respectively) by digital simulation. Moreover, the proposed approach was tested in a kinematic vehicle experiment as well. Using the designed simulations and kinematic vehicle experiments, it has been shown that the disturbance acceleration of each mode can be accurately estimated and corrected. Moreover, compared with the complementary filter, the experimental results have explicitly demonstrated the proposed approach further improves the attitude estimate precision under vehicle movement conditions.<\/jats:p>","DOI":"10.3390\/s16101716","type":"journal-article","created":{"date-parts":[[2016,10,17]],"date-time":"2016-10-17T10:33:16Z","timestamp":1476700396000},"page":"1716","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Accurate Attitude Estimation Using ARS under Conditions of Vehicle Movement Based on Disturbance Acceleration Adaptive Estimation and Correction"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3910-6051","authenticated-orcid":false,"given":"Li","family":"Xing","sequence":"first","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yijun","family":"Hang","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhi","family":"Xiong","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianye","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhong","family":"Wan","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,10,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1204","DOI":"10.3390\/s90201204","article-title":"SITHON: An airborne fire detection system compliant with operational tactical requirements","volume":"9","author":"Kontoes","year":"2009","journal-title":"Sensors"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1371","DOI":"10.1177\/0278364910364685","article-title":"System development and demonstration of a cooperative UAV team for mapping and tracking","volume":"29","author":"Cole","year":"2010","journal-title":"Int. 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