Sökning: onr:"swepub:oai:DiVA.org:uu-423580" >
A Fast and Robust A...
A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors
-
- Kok, Manon (författare)
- Delft Univ Technol, Delft Ctr Syst & Control, Delft, Netherlands.
-
- Schön, Thomas B., Professor, 1977- (författare)
- Uppsala universitet,Avdelningen för systemteknik
-
Delft Univ Technol, Delft Ctr Syst & Control, Delft, Netherlands Avdelningen för systemteknik (creator_code:org_t)
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2019
- 2019
- Engelska.
-
Ingår i: IEEE Signal Processing Letters. - : IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. - 1070-9908 .- 1558-2361. ; 26:11, s. 1673-1677
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This correction is computed, at each time instance, using a single gradient descent step with fixed step length. This fixed step length results in robustness against model errors, e.g., caused by large accelerations or by short-term magnetic field disturbances, which we numerically illustrate using Monte Carlo simulations. Our algorithm estimates a three-dimensional update to the orientation rather than the entire orientation itself. This reduces the computational complexity by approximately 1/3 with respect to the state of the art. It also improves the quality of the resulting estimates, specifically when the orientation corrections are large. We illustrate the efficacy of the algorithm using experimental data.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
Nyckelord
- Orientation estimation
- inertial sensors
- complementary filter
- multiplicative extended Kalman filter
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
Hitta via bibliotek
Till lärosätets databas