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

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 resid...

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Bibliographic Details
Published in:IEEE transactions on instrumentation and measurement 2010-12, Vol.59 (12), p.3296-3305
Main Author: Suh, Young Soo
Format: Article
Language:English
Subjects:
Acceleration
Accelerometers
Adaptive estimation
Adaptive filters
Biomedical measurements
Covariance
Filters
Gyroscopes
inertial sensors
Instrumentation
Kalman filtering
Kalman filters
Magnetic field measurement
Magnetic sensors
Magnetic separation
Mathematical models
Noise
Orientation
orientation estimation
quaternion
Quaternions
Sensors
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Summary: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.
ISSN:0018-9456
1557-9662
DOI:10.1109/TIM.2010.2047157