Orientation Estimation Using a Quaternion-Based Indirect Kalman Filter With Adaptive Estimation of External Acceleration

被引：200

作者：

Suh, Young Soo ^{[1
]}

机构：

[1] Univ Ulsan, Dept Elect Engn, Ulsan 680749, South Korea

来源：

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT | 2010年 / 59卷 / 12期

基金：

新加坡国家研究基金会;

关键词：

Adaptive filters; inertial sensors; Kalman filtering; orientation estimation; quaternion;

D O I：

10.1109/TIM.2010.2047157

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper is concerned with orientation estimation using inertial and magnetic sensors. A quaternion-based indirect Kalman filter structure is used. The magnetic sensor output is only used for yaw angle estimation using two-step measurement updates. External acceleration is estimated from the residual of the filter and compensated by increasing the measurement noise covariance. Using the direction information of external information, the proposed method prevents unnecessarily increasing the measurement noise covariance corresponding to the accelerometer output, which is not affected by external acceleration. Through numerical examples, the proposed method is verified.

引用

页码：3296 / 3305

页数：10