• DocumentCode
    2613753
  • Title

    Inertial localization system using unscented Kalman filter for 3D positioning

  • Author

    Zhang, Rui ; Reindl, Leonhard M.

  • Author_Institution
    Dept. of Microsyst. Eng., Univ. of Freiburg, Freiburg, Germany
  • Volume
    5
  • fYear
    2011
  • fDate
    15-17 Oct. 2011
  • Firstpage
    2669
  • Lastpage
    2673
  • Abstract
    This paper presents the implementation of an novel inertial localization system for 3D positioning including 3 main functions: unscented Kalman filter (UKF) based sensor data fusion for accurate orientation determination; magnetic disturbance detection and minimization for robustness and stability when experiencing local magnetic disturbance; Zero Velocity Update (ZUPT) for velocity correction. In both indoor and outdoor experiment scenarios, the system is able to obtain correct 3D trajectory.
  • Keywords
    Kalman filters; nonlinear filters; sensor fusion; 3D positioning; ZUPT; inertial localization system; local magnetic disturbance; magnetic disturbance detection; sensor data fusion; unscented Kalman filter; zero velocity update; Accelerometers; Estimation; Kalman filters; Magnetic separation; Magnetometers; Three dimensional displays; Trajectory; IMU; Uscented Kalman fiter; data fusion; inertial localization; magnetic disturbance;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Image and Signal Processing (CISP), 2011 4th International Congress on
  • Conference_Location
    Shanghai
  • Print_ISBN
    978-1-4244-9304-3
  • Type

    conf

  • DOI
    10.1109/CISP.2011.6100766
  • Filename
    6100766
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2613753