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