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The non-gravitational components of the MEMS-IMU have a significant effect on the accuracy of attitude estimation. To improve the attitude estimation of low-dynamic vehicles under uneven soil conditions or vibrations, a robust Kalman filter (RKF) was developed and tested in this paper, where the noise covariance was adaptively changed to compensate for the external acceleration of the vehicle. The state model for MEMS-IMU attitude estimation was initially constructed using a simplified direction cosine matrix. Subsequently, the variance of unmodeled external acceleration was estimated online based on filtering innovations of different window lengths, where the acceleration disturbance was addressed by tradeoffs in time-delay and prescribed computation cost. The effectiveness of the RKF was validated through experiments using a three-axis turntable, an automatic vehicle, and a tractor tillage test. The turntable experiment demonstrated that the angle result of the RKF was 0.051\u00b0 in terms of root mean square error (RMSE), showing improvements of 65.5% and 29.2% over a conventional KF and MTi-300, respectively. The dynamic attitude estimation of the automatic vehicle showed that the RKF achieves smoother pitch angles than the KF when the vehicle passes over speed bumps at different speeds; the RMSE of pitch was reduced from 0.875\u00b0 to 0.460\u00b0 and presented a similar attitude trend to the MTi-300. The tractor tillage test indicated that the RMSE of plough pitch was improved from 0.493\u00b0 with the KF to 0.259\u00b0 with the RKF, an enhancement of approximately 47.5%, illustrating the superiority of the RKF in suppressing the external acceleration disturbances of IMU-based attitude estimation.<\/jats:p>","DOI":"10.3390\/s24144623","type":"journal-article","created":{"date-parts":[[2024,7,17]],"date-time":"2024-07-17T15:15:19Z","timestamp":1721229319000},"page":"4623","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Robust Attitude Estimation for Low-Dynamic Vehicles Based on MEMS-IMU and External Acceleration Compensation"],"prefix":"10.3390","volume":"24","author":[{"given":"Jiaxuan","family":"Chen","sequence":"first","affiliation":[{"name":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China"},{"name":"School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7436-7663","authenticated-orcid":false,"given":"Bingbo","family":"Cui","sequence":"additional","affiliation":[{"name":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China"},{"name":"School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinhua","family":"Wei","sequence":"additional","affiliation":[{"name":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China"},{"name":"School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongyun","family":"Zhu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China"},{"name":"School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zeyu","family":"Sun","sequence":"additional","affiliation":[{"name":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China"},{"name":"School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7027-8911","authenticated-orcid":false,"given":"Yufei","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,7,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"106149","DOI":"10.1016\/j.ast.2020.106149","article-title":"Non-initial attitude error analysis of SINS by error closed-loop and energy-level constructing","volume":"106","author":"Tang","year":"2020","journal-title":"Aerosp. 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