Novel MARG-Sensor Orientation Estimation Algorithm Using Fast Kalman Filter
Joint Authors
Wang, Zuocai
Wu, Jin
Guo, Siwen
Qian, Jide
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-09-24
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Orientation estimation from magnetic, angular rate, and gravity (MARG) sensor array is a key problem in mechatronic-related applications.
This paper proposes a new method in which a quaternion-based Kalman filter scheme is designed.
The quaternion kinematic equation is employed as the process model.
With our previous contributions, we establish the measurement model of attitude quaternion from accelerometer and magnetometer, which is later proved to be the fastest (computationally) one among representative attitude determination algorithms of such sensor combination.
Variance analysis is later given enabling the optimal updating of the proposed filter.
The algorithm is implemented on real-world hardware where experiments are carried out to reveal the advantages of the proposed method with respect to conventional ones.
The proposed approach is also validated on an unmanned aerial vehicle during a real flight.
Results show that the proposed one is faster than any other Kalman-based ones and even faster than some complementary ones while the attitude estimation accuracy is maintained.
American Psychological Association (APA)
Guo, Siwen& Wu, Jin& Wang, Zuocai& Qian, Jide. 2017. Novel MARG-Sensor Orientation Estimation Algorithm Using Fast Kalman Filter. Journal of Sensors،Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1187527
Modern Language Association (MLA)
Guo, Siwen…[et al.]. Novel MARG-Sensor Orientation Estimation Algorithm Using Fast Kalman Filter. Journal of Sensors No. 2017 (2017), pp.1-12.
https://search.emarefa.net/detail/BIM-1187527
American Medical Association (AMA)
Guo, Siwen& Wu, Jin& Wang, Zuocai& Qian, Jide. Novel MARG-Sensor Orientation Estimation Algorithm Using Fast Kalman Filter. Journal of Sensors. 2017. Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1187527
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1187527