An adaptive attitude tracking method considering acceleration and magnetic field compensation

This paper presents an attitude tracking method considering acceleration and magnetic field compensation for measurement units integrating of a tri-axis gyroscope, a tri-axis accelerometer and a tri-axis magnetometer. In the proposed method, the quaternion associated with the body rotation is includ...

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Bibliographic Details
Published in2012 5th International Conference on Biomedical Engineering and Informatics pp. 422 - 427
Main Author Lu, Tao
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2012
Subjects
Accelerometers
adaptive compensation
attitude tracking
extended kalman filter
Magnetic field measurement
Magnetometers
MEMS sensor
Noise
Noise measurement
Quaternions
Robot sensing systems
Tracking
Vectors
Velocity measurement
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ISBN9781467311830
1467311839
DOI10.1109/BMEI.2012.6512973

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Summary:This paper presents an attitude tracking method considering acceleration and magnetic field compensation for measurement units integrating of a tri-axis gyroscope, a tri-axis accelerometer and a tri-axis magnetometer. In the proposed method, the quaternion associated with the body rotation is included in the state vector together with the translational acceleration and magnetic disturbance. Moreover, in addition to the in-line procedure of sensor bias compensation, the compensation coefficients which are adjusted dynamically with the real-time measurements are adapted to guard against the effects of fast body motion and temporary magnetic disturbance. Compared to the traditional attitude tracking method, the proposed method achieves higher precision and stronger robustness experimentally.
ISBN:9781467311830
1467311839
DOI:10.1109/BMEI.2012.6512973