期刊
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
卷 59, 期 12, 页码 3296-3305出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIM.2010.2047157
关键词
Adaptive filters; inertial sensors; Kalman filtering; orientation estimation; quaternion
资金
- National Research Foundation of Korea, Korean Government [2009-0074773]
- National Research Foundation of Korea [2009-0074773] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
This paper is concerned with orientation estimation using inertial and magnetic sensors. A quaternion-based indirect Kalman filter structure is used. The magnetic sensor output is only used for yaw angle estimation using two-step measurement updates. External acceleration is estimated from the residual of the filter and compensated by increasing the measurement noise covariance. Using the direction information of external information, the proposed method prevents unnecessarily increasing the measurement noise covariance corresponding to the accelerometer output, which is not affected by external acceleration. Through numerical examples, the proposed method is verified.
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