Low cost inertial orientation tracking with Kalman filter

In this paper the theory of estimation will be examined and applied to inertial measurement units (IMUs). IMUs sense the motion of an object without any contact. The sensors, that are used, are inertial sensors giving the IMU it's name. It will be considered, how the theory of estimation can compensate the problems with the sensor drift. The application of the theory of estimation is obvious, because the central aim of the theory of estimation is the extraction of information based on instable and deranged measured values. (C) 2003 Elsevier Inc. All rights reserved.