Inertial Sensor-Based Attitude Estimation Combining a Kinematic Constraint for Elimination of Acceleration-Induced Inaccuracy

被引:0
|
作者
Choi, Mi Jin [1 ]
Lee, Jung Keun [1 ,2 ]
机构
[1] Hankyong Natl Univ, Dept Mech Engn, Anseong, South Korea
[2] Hankyong Natl Univ, Inst Machine Convergence Technol, Anseong, South Korea
关键词
Inertial Sensor; Attitude; Acceleration-Induced Inaccuracy; Kinematic Constraint; Kalman Filter;
D O I
10.3795/KSME-A.2018.42.3.263
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
Regarding attitude estimation Kalman filter (KF) based on inertial sensor signals, one of the major issues that affect the estimation accuracy is the acceleration-induced inaccuracy associated with accelerometer signals. To deal with this issue, researchers have proposed various types of acceleration-compensating mechanisms. Because those mechanisms, however, are basically stochastic approaches, such as Markov chain models, they cannot thoroughly eliminate the acceleration-induced inaccuracy. Resultantly, improvement in estimation performance is limited. In this paper, the kinematic constraint associated with a ball joint is formulated to eliminate the acceleration-induced inaccuracy. Then, the constraint is augmented in a state-of-the-art attitude estimation KF. In our experimental results, the proposed KF with constraint was superior to the conventional KF by an average of 6.31 degrees and a maximum of 11.22 degrees.
引用
收藏
页码:263 / 269
页数:7
相关论文
共 40 条
  • [21] Sensor-based Simultaneous Localization and Mapping - Part II: Online Inertial Map and Trajectory Estimation
    Guerreiro, Bruno J.
    Batista, Pedro
    Silvestre, Carlos
    Oliveira, Paulo
    2012 AMERICAN CONTROL CONFERENCE (ACC), 2012, : 6334 - 6339
  • [22] Inertial Sensor-Based State Estimation of Long-Reach Flexible-Link Manipulators
    Makinen, Petri
    Mattila, Jouni
    2017 IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM), 2017, : 116 - 121
  • [23] Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty
    De Schutter, Joris
    De Laet, Tinne
    Rutgeerts, Johan
    Decre, Wilm
    Smits, Ruben
    Aertbelien, Erwin
    Claes, Kasper
    Bruyninckx, Herman
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2007, 26 (05): : 433 - 455
  • [24] An Attitude Estimation Method Based on Monocular Vision and Inertial Sensor Fusion for Indoor Navigation
    Wang, Zhe
    Li, Xisheng
    Zhang, Xiaojuan
    Bai, Yanru
    Zheng, Chengcai
    IEEE SENSORS JOURNAL, 2021, 21 (23) : 27051 - 27061
  • [25] Neural Networks Versus Conventional Filters for Inertial-Sensor-based Attitude Estimation
    Weber, Daniel
    Guehmann, Clemens
    Seel, Thomas
    PROCEEDINGS OF 2020 23RD INTERNATIONAL CONFERENCE ON INFORMATION FUSION (FUSION 2020), 2020, : 1152 - 1159
  • [26] Sensor-Based Globally Asymptotically Stable Filters for Attitude Estimation: Analysis, Design, and Performance Evaluation
    Batista, Pedro
    Silvestre, Carlos
    Oliveira, Paulo
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2012, 57 (08) : 2095 - 2100
  • [27] Nonzero velocity interval attitude estimation CKF algorithm based on acceleration compensation for inertial pedestrian navigation
    Wang X.
    Dai H.
    Quan W.
    Wang R.
    Jia L.
    Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2023, 45 (09): : 2894 - 2901
  • [28] Inertial sensor-based knee flexion/extension angle estimation (vol 42, pg 2678, 2009)
    Cooper, Glen
    Sheret, Ian
    McMillan, Louise
    Siliverdis, Konstantinos
    Sha, Ning
    Hodgins, Diana
    Kenney, Laurence
    Howard, David
    JOURNAL OF BIOMECHANICS, 2010, 43 (03) : 598 - 598
  • [29] An Inertial Sensor-Based System for Synchronous Upper Extremity Kinematic Reconstruction and Neural Recordings During Awake Deep Brain Stimulation
    Cajigas, Iahn
    Diaz, Anthony
    Prins, Noeline
    Tan, Sze K.
    Prasad, Abhishek
    Luca, Corneliu
    Jagid, Jonathan R.
    NEUROSURGERY, 2020, 67 : 223 - 223
  • [30] 3-D Inertial Trajectory and Map Online Estimation: Building on a GAS Sensor-based SLAM filter
    Lourenco, Pedro
    Guerreiro, Bruno J.
    Batista, Pedro
    Oliveira, Paulo
    Silvestre, Carlos
    2013 EUROPEAN CONTROL CONFERENCE (ECC), 2013, : 4214 - 4219