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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| Format: | Article |
| Language: | English |
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MDPI AG
2011-09-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/11/10/9182/ |