IMU Based Attitude Estimation Using Adaptive Complimentary Filter

IMU Based Attitude Estimation Using Adaptive Complimentary Filter
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使用自适应互补滤波器的基于 IMU 的姿态估计

DOI：
10.1109/iccict50803.2021.9510153
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发表时间：
2021
期刊：
2021 International Conference on Communication information and Computing Technology (ICCICT)
影响因子：
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通讯作者：
Rajesh N Motta
Rajesh N Motta
中科院分区：
--
文献类型：
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作者：
G. Aparna;C. Kamal;Rajesh N Motta

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姿态估计在许多领域有其应用，包括自主车辆、无人机的控制、工业机械手的定向等。本文介绍了一种利用惯性测量单元进行三维空间目标方位估计的方法。IMU提供来自线性加速度传感器、地球磁场传感器和角速度传感器的信息。从这些传感器接收到的数据使用自适应互补滤波器进行融合，以获得对象方向的可靠估计。
Attitude estimation has its application in many areas including control of autonomous vehicles, UAVs, defining the orientation of industrial manipulator etc.. This paper describes a method for orientation estimation of an object in 3D space, by using an IMU. IMU provides information from a linear Acceleration sensor, Earth’s magnetic field sensor, and an angular velocity sensor. The data received from these sensors are fused using an Adaptive Complimentary Filter to get a reliable estimate of the object orientation.