Kalman-Filter-Based Orientation Determination Using Inertial/Magnetic Sensors: Observability Analysis and Performance Evaluation

Kalman-Filter-Based Orientation Determination Using Inertial/Magnetic Sensors: Observability Analysis and Performance Evaluation

In this paper we present a quaternion-based Extended Kalman Filter (EKF) for estimating the three-dimensional orientation of a rigid body. The EKF exploits the measurements from an Inertial Measurement Unit (IMU) that is integrated with a tri-axial magnetic sensor. Magnetic disturbances and gyro bia...

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Bibliographic Details
Main Author: Angelo Maria Sabatini
Format: Article
Language:English
Published: MDPI AG 2011-09-01
Series:Sensors
Subjects:
ambulatory human motion tracking
orientation determination
inertial measurement unit
Extended Kalman filter
Lie derivatives
observability of nonlinear systems
Online Access:http://www.mdpi.com/1424-8220/11/10/9182/

Internet

http://www.mdpi.com/1424-8220/11/10/9182/

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