• DocumentCode
    2136949
  • 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
  • fYear
    2010
  • fDate
    1-4 Nov. 2010
  • Firstpage
    743
  • Lastpage
    746
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Sensors, 2010 IEEE
  • Conference_Location
    Kona, HI
  • ISSN
    1930-0395
  • Print_ISBN
    978-1-4244-8170-5
  • Electronic_ISBN
    1930-0395
  • Type

    conf

  • DOI
    10.1109/ICSENS.2010.5690754
  • Filename
    5690754
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2136949