An Open-Source Test Environment for Effective Development of MARG-Based Algorithms
This paper presents an open-source environment for development, tuning, and performance evaluation of magnetic, angular rate, and gravity-based (MARG-based) filters, such as pose estimators and classification algorithms. The environment is available in both ROS/Gazebo and MATLAB/Simulink, and it con...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-02-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/4/1183 |
| _version_ | 1797412820887797760 |
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| author | Ákos Odry |
| author_facet | Ákos Odry |
| author_sort | Ákos Odry |
| collection | DOAJ |
| description | This paper presents an open-source environment for development, tuning, and performance evaluation of magnetic, angular rate, and gravity-based (MARG-based) filters, such as pose estimators and classification algorithms. The environment is available in both ROS/Gazebo and MATLAB/Simulink, and it contains a six-degrees of freedom (6 DOF) test bench, which simultaneously moves and rotates an MARG unit in the three-dimensional (3D) space. As the quality of MARG-based estimation becomes crucial in dynamic situations, the proposed test platform intends to simulate different accelerating and vibrating circumstances, along with realistic magnetic perturbation events. Moreover, the simultaneous acquisition of both the real pose states (ground truth) and raw sensor data is supported during these simulated system behaviors. As a result, the test environment executes the desired mixture of static and dynamic system conditions, and the provided database fosters the effective analysis of sensor fusion algorithms. The paper systematically describes the structure of the proposed test platform, from mechanical properties, over mathematical modeling and joint controller synthesis, to implementation results. Additionally, a case study is presented of the tuning of popular attitude estimation algorithms to highlight the advantages of the developed open-source environment. |
| first_indexed | 2024-03-09T05:08:45Z |
| format | Article |
| id | doaj.art-1e965928b7b64256946f5dc203f79dc9 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T05:08:45Z |
| publishDate | 2021-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-1e965928b7b64256946f5dc203f79dc92023-12-03T12:52:03ZengMDPI AGSensors1424-82202021-02-01214118310.3390/s21041183An Open-Source Test Environment for Effective Development of MARG-Based AlgorithmsÁkos Odry0Department of Control Engineering and Information Technology, University of Dunaújváros, Táncsics Mihály u. 1, 2400 Dunaújváros, HungaryThis paper presents an open-source environment for development, tuning, and performance evaluation of magnetic, angular rate, and gravity-based (MARG-based) filters, such as pose estimators and classification algorithms. The environment is available in both ROS/Gazebo and MATLAB/Simulink, and it contains a six-degrees of freedom (6 DOF) test bench, which simultaneously moves and rotates an MARG unit in the three-dimensional (3D) space. As the quality of MARG-based estimation becomes crucial in dynamic situations, the proposed test platform intends to simulate different accelerating and vibrating circumstances, along with realistic magnetic perturbation events. Moreover, the simultaneous acquisition of both the real pose states (ground truth) and raw sensor data is supported during these simulated system behaviors. As a result, the test environment executes the desired mixture of static and dynamic system conditions, and the provided database fosters the effective analysis of sensor fusion algorithms. The paper systematically describes the structure of the proposed test platform, from mechanical properties, over mathematical modeling and joint controller synthesis, to implementation results. Additionally, a case study is presented of the tuning of popular attitude estimation algorithms to highlight the advantages of the developed open-source environment.https://www.mdpi.com/1424-8220/21/4/1183MARGattitude estimationcomplementary filterinertial measurement unitKalman filtersensor fusion |
| spellingShingle | Ákos Odry An Open-Source Test Environment for Effective Development of MARG-Based Algorithms Sensors MARG attitude estimation complementary filter inertial measurement unit Kalman filter sensor fusion |
| title | An Open-Source Test Environment for Effective Development of MARG-Based Algorithms |
| title_full | An Open-Source Test Environment for Effective Development of MARG-Based Algorithms |
| title_fullStr | An Open-Source Test Environment for Effective Development of MARG-Based Algorithms |
| title_full_unstemmed | An Open-Source Test Environment for Effective Development of MARG-Based Algorithms |
| title_short | An Open-Source Test Environment for Effective Development of MARG-Based Algorithms |
| title_sort | open source test environment for effective development of marg based algorithms |
| topic | MARG attitude estimation complementary filter inertial measurement unit Kalman filter sensor fusion |
| url | https://www.mdpi.com/1424-8220/21/4/1183 |
| work_keys_str_mv | AT akosodry anopensourcetestenvironmentforeffectivedevelopmentofmargbasedalgorithms AT akosodry opensourcetestenvironmentforeffectivedevelopmentofmargbasedalgorithms |