Efficient orientation estimation algorithm for low cost inertial and magnetic sensor systems

The presented work develops a high-dynamic quaternion attitude estimation unscented Kalman filter suitable for the implementation in low cost sensor systems, comprising accelerometers, gyroscopes and magnetic field sensors. The adoption of a spherical sigma-point selection strategy and the implement...

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Vydané v:2009 IEEE/SP 15th Workshop on Statistical Signal Processing s. 586 - 589
Hlavní autori: Romanovas, M., Klingbeil, L., Trachtler, M., Manoli, Y.
Médium: Konferenčný príspevok..
Jazyk:English
Vydavateľské údaje: IEEE 01.08.2009
Predmet:
Acceleration
Accelerometers
Costs
Filters
Gyroscopes
Magnetic noise
Magnetic sensors
Motion Tracking
Noise generators
Quaternions
Sensor Fusion
Sensor systems
Unscented Kalman Filter
ISBN:9781424427093, 1424427096
ISSN:2373-0803
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Popis
Shrnutí:The presented work develops a high-dynamic quaternion attitude estimation unscented Kalman filter suitable for the implementation in low cost sensor systems, comprising accelerometers, gyroscopes and magnetic field sensors. The adoption of a spherical sigma-point selection strategy and the implementation of the square-root version reduces the requirements for computational resources. A special handling of angular rate, gyroscope bias, and translational accelerations within the process model is implemented and evaluated. Issues regarding the quaternion mean calculations, noise representation as well as control noise scaling are discussed. The performance of the designed filter is assessed using real hand motion reference data and correspondingly generated noisy sensor measurements.
ISBN:9781424427093
1424427096
ISSN:2373-0803
DOI:10.1109/SSP.2009.5278507