Quaternion-based pseudo kalman filter for wearable inertial/magnetic sensor applications
This paper deals with orientation estimation using miniature inertial/magnetic sensor comprised of a tri-axial rate gyro, a tri-axial accelerometer, and a tri-axial magnetometer. Particularly, a novel quaternion-based pseudo Kalman filter (KF) is proposed by modifying an indirect KF, in order to max...
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| Format: | Article |
| Language: | English |
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EDP Sciences
2016-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | http://dx.doi.org/10.1051/matecconf/20165901009 |
| _version_ | 1818648022901325824 |
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| author | Lee Jung Keun |
| author_facet | Lee Jung Keun |
| author_sort | Lee Jung Keun |
| collection | DOAJ |
| description | This paper deals with orientation estimation using miniature inertial/magnetic sensor comprised of a tri-axial rate gyro, a tri-axial accelerometer, and a tri-axial magnetometer. Particularly, a novel quaternion-based pseudo Kalman filter (KF) is proposed by modifying an indirect KF, in order to maximize the computational efficiency and implementation simplicity. In the proposed pseudo KF, time-update process for prediction is based on the quaternion itself, while measurement-update process for correction is performed through the quaternion error. Experimental tests were conducted to verify performance of the proposed algorithm in various dynamic conditions. By designing the pseudo KF structure, matrix operations required in a typical KF are simplified. For instance, the proposed KF does not require the evaluation of the a priori and a posteriori error covariance matrices. Thus, the proposed algorithm achieves higher computational efficiency even than a typical indirect KF, without sacrificing estimation accuracy. Due to its high efficiency, the proposed algorithm can be suitable for battery-powered and low cost processor-based wearable inertial/magnetic sensor applications. |
| first_indexed | 2024-12-17T01:11:50Z |
| format | Article |
| id | doaj.art-5a743c3d7071449488fb9dde90c3cf12 |
| institution | Directory Open Access Journal |
| issn | 2261-236X |
| language | English |
| last_indexed | 2024-12-17T01:11:50Z |
| publishDate | 2016-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | MATEC Web of Conferences |
| spelling | doaj.art-5a743c3d7071449488fb9dde90c3cf122022-12-21T22:09:07ZengEDP SciencesMATEC Web of Conferences2261-236X2016-01-01590100910.1051/matecconf/20165901009matecconf_icfst2016_01009Quaternion-based pseudo kalman filter for wearable inertial/magnetic sensor applicationsLee Jung KeunThis paper deals with orientation estimation using miniature inertial/magnetic sensor comprised of a tri-axial rate gyro, a tri-axial accelerometer, and a tri-axial magnetometer. Particularly, a novel quaternion-based pseudo Kalman filter (KF) is proposed by modifying an indirect KF, in order to maximize the computational efficiency and implementation simplicity. In the proposed pseudo KF, time-update process for prediction is based on the quaternion itself, while measurement-update process for correction is performed through the quaternion error. Experimental tests were conducted to verify performance of the proposed algorithm in various dynamic conditions. By designing the pseudo KF structure, matrix operations required in a typical KF are simplified. For instance, the proposed KF does not require the evaluation of the a priori and a posteriori error covariance matrices. Thus, the proposed algorithm achieves higher computational efficiency even than a typical indirect KF, without sacrificing estimation accuracy. Due to its high efficiency, the proposed algorithm can be suitable for battery-powered and low cost processor-based wearable inertial/magnetic sensor applications.http://dx.doi.org/10.1051/matecconf/20165901009 |
| spellingShingle | Lee Jung Keun Quaternion-based pseudo kalman filter for wearable inertial/magnetic sensor applications MATEC Web of Conferences |
| title | Quaternion-based pseudo kalman filter for wearable inertial/magnetic sensor applications |
| title_full | Quaternion-based pseudo kalman filter for wearable inertial/magnetic sensor applications |
| title_fullStr | Quaternion-based pseudo kalman filter for wearable inertial/magnetic sensor applications |
| title_full_unstemmed | Quaternion-based pseudo kalman filter for wearable inertial/magnetic sensor applications |
| title_short | Quaternion-based pseudo kalman filter for wearable inertial/magnetic sensor applications |
| title_sort | quaternion based pseudo kalman filter for wearable inertial magnetic sensor applications |
| url | http://dx.doi.org/10.1051/matecconf/20165901009 |
| work_keys_str_mv | AT leejungkeun quaternionbasedpseudokalmanfilterforwearableinertialmagneticsensorapplications |