Estimation of IMU orientation using Nesterov’s accelerated gradient improved by fuzzy control rule

•The iterative approach adopts Nesterov’s accelerated gradient speeds up convergence.•The use of fuzzy control rule improves the accuracy of estimating IMU orientation.•This algorithm is able to handle the disturbance of magnetic field and non-gravity acceleration. [Display omitted] The application...

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Vydané v:Sensors and actuators. A. Physical. Ročník 332; s. 113062
Hlavní autori: Tang, Liang, Fan, Yanfeng, Ye, Fangping, Lu, Wenzheng
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Lausanne Elsevier B.V 01.12.2021
Elsevier BV
Predmet:
Accelerometers
Algorithms
Estimating techniques
Fuzzy control
Fuzzy logic
Gyroscopes
Inertial measurement unit
Inertial platforms
Kalman filters
Magnetic interference suppression
Magnetometers
Measurement
MEMS sensor
Motion acceleration suppression
Motion sensors
Nesterov’s accelerated gradient
Orientation
Pitch (inclination)
Robustness (mathematics)
Rolling motion
Sensors
Yaw
Inertial measurement unit
Nesterov’s accelerated gradient
Motion acceleration suppression
MEMS sensor
Magnetic interference suppression
ISSN:0924-4247, 1873-3069
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Shrnutí:•The iterative approach adopts Nesterov’s accelerated gradient speeds up convergence.•The use of fuzzy control rule improves the accuracy of estimating IMU orientation.•This algorithm is able to handle the disturbance of magnetic field and non-gravity acceleration. [Display omitted] The application fields put forward higher requirements for the core technology of inertial measurement unit, namely orientation estimation. Generally, estimation of inertial measurement unit orientation is carried out by the fusion of different sensors including geomagnetic sensor and motion sensor, but in some specific environments, the field of magnetic is chaotic and inertial measurement unit itself has the interference of acceleration, orientation estimation algorithm for inertial measurement unit is required to have higher accuracy and stronger robustness. In this work a new approach is presented for estimation of inertial measurement unit orientation. The approach is based on inertial measurement unit containing gyroscope, accelerometer and magnetometer, and a fusion algorithm using Nesterov’s accelerated gradient improved by fuzzy control rule is conducted to estimate inertial measurement unit orientation. Magnetometer is used for measuring the yaw angle, whereas gyroscope, accelerometer provide information for roll and pitch angles. The experimental platform is constructed using motion sensor MPU6050 and magnetometer IST8310, the accuracy and robustness of this approach using Nesterov’s accelerated gradient improved by fuzzy control rule are vertified by four groups of comparative experiments. Experimental results indicate that compared with complementary filter and gradient descent, this approach shows an improvement in estimation of inertial measurement unit orientation.
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ISSN:0924-4247
1873-3069
DOI:10.1016/j.sna.2021.113062