標題: | A Robust Orientation Estimation Algorithm Using MARG Sensors |
作者: | Hu, Jwu-Sheng Sun, Kuan-Chun 電機工程學系 電控工程研究所 Department of Electrical and Computer Engineering Institute of Electrical and Control Engineering |
關鍵字: | 9-D inertial measurement unit (IMU);direct cosine matrix (DCM);gravity projection;magnetic;angular rate;and gravity (MARG) sensors;orientation estimation;real-time hard iron compensation;sensor fusion;state-constrained Kalman filter |
公開日期: | 1-三月-2015 |
摘要: | This paper presents a robust orientation estimation algorithm by using magnetic, angular rate, and gravity sensors. The robustness is achieved by two online methods: compensation of hard iron effect for the magnetometer and separation of the accelerometer signals into gravity projections and linear accelerations. Further, direct cosine matrix is used for the rotation matrix relative to the north, east, down frame. The fusion equations are solved using state-constrained Kalman filter. The simulation and experiment results show the effectiveness of the proposed algorithm in estimating the orientation under acceleration and hard iron influence. |
URI: | http://dx.doi.org/10.1109/TIM.2014.2359815 http://hdl.handle.net/11536/124529 |
ISSN: | 0018-9456 |
DOI: | 10.1109/TIM.2014.2359815 |
期刊: | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT |
Volume: | 64 |
起始頁: | 815 |
結束頁: | 822 |
顯示於類別: | 期刊論文 |