Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing

In this paper, a quaternion based extended Kalman filter (EKF) is developed for determining the orientation of a rigid body from the outputs of a sensor which is configured as the integration of a tri-axis gyro and an aiding system mechanized using a tri-axis accelerometer and a tri-axis magnetomete...

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Bibliographic Details
Published in:IEEE transactions on biomedical engineering 2006-07, Vol.53 (7), p.1346-1356
Main Author: Sabatini, A.M.
Format: Article
Language:English
Subjects:
Acceleration
Accelerometers
Algorithms
Bias
Biomechanical Phenomena - methods
Compensation
Computer Simulation
Diagnosis, Computer-Assisted - methods
Earth's magnetic field sensing
Extended Kalman filter
Filtration - methods
Hand - physiology
Human
human motion tracking
Humans
inertial sensing
Magnetic field measurement
Magnetic noise
Magnetic sensors
Magnetic separation
Magnetics
Magnetometers
Models, Biological
Motion measurement
Movement - physiology
Noise measurement
Orientation
Orientation - physiology
quaternion
Quaternions
Rigid-body dynamics
Sensor systems
Sensors
Studies
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Summary:In this paper, a quaternion based extended Kalman filter (EKF) is developed for determining the orientation of a rigid body from the outputs of a sensor which is configured as the integration of a tri-axis gyro and an aiding system mechanized using a tri-axis accelerometer and a tri-axis magnetometer. The suggested applications are for studies in the field of human movement. In the proposed EKF, the quaternion associated with the body rotation is included in the state vector together with the bias of the aiding system sensors. Moreover, in addition to the in-line procedure of sensor bias compensation, the measurement noise covariance matrix is adapted, to guard against the effects which body motion and temporary magnetic disturbance may have on the reliability of measurements of gravity and earth's magnetic field, respectively. By computer simulations and experimental validation with human hand orientation motion signals, improvements in the accuracy of orientation estimates are demonstrated for the proposed EKF, as compared with filter implementations where either the in-line calibration procedure, the adaptive mechanism for weighting the measurements of the aiding system sensors, or both are not implemented.
ISSN:0018-9294
1558-2531
DOI:10.1109/TBME.2006.875664