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 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.