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[论文]An efficient orientation filter for inertial and inertialmagneticsens...

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发表于 2016-2-20 17:11:16 | 显示全部楼层 |阅读模式
本帖最后由 WitHard 于 2016-2-20 17:20 编辑


An efficient orientation filter for inertial and inertialmagneticsensor arrays


This report presents a novel orientation lter applicable to IMUs consisting of
tri-axis gyroscopes and accelerometers, and MARG sensor arrays that also include
tri-axis magnetometers. The MARG implementation incorporates magnetic distortion
and gyroscope bias drift compensation. The lter uses a quaternion representation,
allowing accelerometer and magnetometer data to be used in an analytically derived
and optimised gradient-descent algorithm to compute the direction of the gyroscope
measurement error as a quaternion derivative. The bene ts of the lter include: (1)
computationally inexpensive; requiring 109 (IMU) or 277 (MARG) scalar arithmetic
operations each lter update, (2) e ective at low sampling rates; e.g. 10 Hz, and (3)
contains 1 (IMU) or 2 (MARG) adjustable parameters de ned by observable system
characteristics. Performance was evaluated empirically using a commercially available
orientation sensor and reference measurements of orientation obtained using an optical
measurement system. A simple calibration method is presented for the use of the
optical measurement equipment in this application. Performance was also benchmarked
against the propriety Kalman-based algorithm of orientation sensor. Results indicate
the lter achieves levels of accuracy exceeding that of the Kalman-based algorithm;
< 0:6 static RMS error, < 0:8 dynamic RMS error. The implications of the low
computational load and ability to operate at low sampling rates open new opportunities
for the use of IMU and MARG sensor arrays in real-time applications of limited power
or processing resources or applications that demand extremely high sampling rates.

An efficient orientation filter for inertial and inertialmagneticsensor arrays.pdf (1.47 MB, 下载次数: 1)
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