Title :
A smoother for attitude estimation using inertial and magnetic sensors
Author :
Suh, Young Soo ; Do, Tri Nhut ; Ro, Young Sik ; Kang, Hee Jun
Author_Institution :
Dept. of Electr. Eng., Univ. of Ulsan, Ulsan, South Korea
Abstract :
A smoother is proposed for an attitude estimation problem, where attitude is estimated using inertial and magnetic sensors. A smoother can provide better results when an offline processing is allowed. A quaternion is used to represent attitude. An indirect Kalman filter is used as a forward and backward filter. In the smoother, the final attitude quaternion is computed using the averaging algorithm of quaternions, which can be computed from a simple optimization problem.
Keywords :
Kalman filters; attitude measurement; inertial navigation; attitude estimation; final attitude quaternion; indirect Kalman filter; inertial sensors; magnetic sensors; smoother;
Conference_Titel :
Sensors, 2010 IEEE
Conference_Location :
Kona, HI
Print_ISBN :
978-1-4244-8170-5
Electronic_ISBN :
1930-0395
DOI :
10.1109/ICSENS.2010.5690754
