Orientation Estimation Using a Quaternion-Based Indirect Kalman Filter With Adaptive Estimation of External Acceleration
Orientation Estimation Using a Quaternion-Based Indirect Kalman Filter With Adaptive Estimation of External Acceleration
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DOI：
10.1109/tim.2010.2047157
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发表时间：
2010-12-01
影响因子：
5.6
通讯作者：
Suh, Young Soo
中科院分区：
文献类型：
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作者：
Suh, Young Soo
本文研究了利用惯性和磁传感器进行方位估计的问题。采用基于四元数的间接卡尔曼滤波器结构。磁传感器输出仅用于使用两步测量更新的偏航角估计。外部加速度估计从滤波器的残差，并通过增加测量噪声协方差补偿。该方法利用外部信息的方向信息，避免了不受外部加速度影响的加速度计输出对应的测量噪声协方差的不必要增加。通过数值算例，验证了该方法的有效性.
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.