Comparison of Attitude and Heading Reference Systems using Foot Mounted MIMU Sensor Data: Basic, Madgwick and Mahony

被引：7

作者：

Ludwig, Simone A. ^{[1
]}

Burnham, Kaleb D. ^{[1
]}

Jimenez, Antonio R. ^{[2
]}

Touma, Pierre A. ^{[3
]}

机构：

[1] North Dakota State Univ, Fargo, ND 58105 USA

[2] UPM, CSIC, CAR, Madrid, Spain

[3] Axelo Inc, Austin, TX USA

来源：

SENSORS AND SMART STRUCTURES TECHNOLOGIES FOR CIVIL, MECHANICAL, AND AEROSPACE SYSTEMS 2018 | 2018年 / 10598卷

关键词：

magnetic and inertial measurement unit; fusion algorithms; foot-mounted sensor data;

D O I：

10.1117/12.2296568

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

A magnetic and inertial measurement unit (MIMU) usually measures acceleration, rotation rate, and earth's magnetic field in order to determine a body's attitude. In order to find the orientation information using all sensors a fusion algorithm is used. This paper compares two approaches used for a Attitude and Heading Reference System (AHRS), namely Madgwick and Mahony with a basic fusion approach. Foot mounted MIMU data is used to estimate the Euler angles as well as the position. The results show that Madgwick obtains better heading orientation than Mahony and the basic AHRS approach in terms of the error (RMSE) of the Euler angles when compared to the ground truth. However, the execution time of Mahony is less than Madgwick with the basic AHRS taking the longest.

引用

页数：7

共 16 条

[1]

[Anonymous], 2010, Technical report

[2]

[Anonymous], 2017, FOOT MOUNT IMU DAT S

[3] Inertial Sensor Technology Trends [J].