期刊
IEEE SENSORS JOURNAL
卷 15, 期 7, 页码 3781-3792出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2015.2397397
关键词
Intelligent sensors; Kalman filters; sensor fusion; mobile devices
资金
- Polish Ministry of Science and Higher Education [DI2012 004142]
Consumer electronics mobile devices, such as smartphones or tablets, are rapidly growing in computing power and are equipped with an increasing number of sensors. This enables to use a present-day mobile device as a viable platform for computation-intensive, real-time applications in navigation and guidance. In this paper, we present a study on the performance of the orientation estimation based on the data acquired by the accelerometer, magnetometer, and gyroscope in a mobile device. Reliable orientation estimation based on the readouts from inertial sensors may be used in more complex systems, e.g., to correct the orientation error of a visual odometry system. We present a rigorous derivation of the mathematical estimation model, and we thoroughly evaluate the performance of the orientation estimation mechanism available in the Android OS, and the proposed alternative solutions on an unique dataset gathered using an actual smartphone. From the experimental results, we draw the conclusions as to the best performing algorithm, and then we evaluate its execution time on Android-based devices to demonstrate the possibility of real-time usage. The Android code for the proposed orientation estimation system is made publicly available for scientific and commercial applications.
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