Implementing a sensor fusion algorithm for 3D orientation detection with inertial/magnetic sensors

被引：32
作者：
Abyarjoo, Fatemeh [1 ]
Barreto, Armando [1 ]
Cofino, Jonathan [1 ]
Ortega, Francisco R. [2 ]
机构：
[1] Electrical and Computer Engineering Department, Florida International University, Miami, 33174, FL
[2] School of Computing and Information Science, Florida International University, Miami, 33174, FL
来源：
Lecture Notes in Electrical Engineering | 2015年 / 313卷
基金：
美国国家科学基金会;
关键词：
3D; Algorithms; Detection; Filters; Sensors;
D O I：
10.1007/978-3-319-06773-5_41
中图分类号：
学科分类号：
摘要：
In this paper a sensor fusion algorithm is developed and implemented for detecting orientation in three dimensions. Tri-axis MEMS inertial sensors and tri-axis magnetometer outputs are used as input to the fusion system. A Kalman filter is designed to compensate the inertial sensors errors by combining accelerometer and gyroscope data. A tilt compensation unit is designed to calculate the heading of the system. © Springer International Publishing Switzerland 2015.
引用
收藏
页码：305 / 310
页数：5
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