Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing
Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing
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DOI：
10.1109/tbme.2006.875664
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发表时间：
2006-07-01
影响因子：
4.6
通讯作者：
Sabatini, Angelo M.
中科院分区：
文献类型：
--
作者：
Sabatini, Angelo M.
本文提出了一种基于四元数的扩展卡尔曼滤波（EKF），用于从传感器的输出中确定刚体的方向，该传感器由三轴陀螺和三轴加速度计和三轴磁力仪组成的辅助系统组成。建议应用于人体运动领域的研究。在所提出的EKF中，与身体旋转相关的四元数与辅助系统传感器的偏置一起包含在状态向量中。此外，除了传感器偏置补偿的在线程序外，还采用测量噪声协方差矩阵，以防止物体运动和临时磁干扰分别对重力和地磁场测量的可靠性产生影响。通过计算机模拟和人类手部方向运动信号的实验验证，与没有实现在线校准程序、辅助系统传感器测量加权的自适应机制或两者都没有实现的滤波实现相比，所提出的EKF在方向估计精度方面得到了提高。
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.