A Robust Orientation Estimation Algorithm Using MARG Sensors

This paper presents a robust orientation estimation algorithm by using magnetic, angular rate, and gravity sensors. The robustness is achieved by two online methods: compensation of hard iron effect for the magnetometer and separation of the accelerometer signals into gravity projections and linear...

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Bibliographic Details
Published in:	IEEE transactions on instrumentation and measurement Vol. 64; no. 3; pp. 815 - 822
Main Authors:	Hu, Jwu-Sheng, Sun, Kuan-Chun
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.03.2015 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	9-D inertial measurement unit (IMU) Acceleration and gravity (MARG) sensors angular rate direct cosine matrix (DCM) Estimation Gravity gravity projection Iron magnetic Magnetic separation Magnetometers orientation estimation real-time hard iron compensation sensor fusion state-constrained Kalman filter Vectors and gravity (MARG) sensors orientation estimation 9-D inertial measurement unit (IMU) state-constrained Kalman filter gravity projection magnetic sensor fusion real-time hard iron compensation angular rate direct cosine matrix (DCM)
ISSN:	0018-9456, 1557-9662
Online Access:	Get full text
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