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
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;
Conference_Titel :
Image and Signal Processing (CISP), 2011 4th International Congress on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-9304-3
DOI :
10.1109/CISP.2011.6100766
