Orientation Estimation by Error-State Extended Kalman Filter in Quaternion vector space

Author

Ahmadi, Mohammad ; Khayatian, Alireza ; Karimaghaee, Paknush

Author_Institution

Shiraz Univ., Shiraz

fYear

2007

fDate

17-20 Sept. 2007

Firstpage

60

Lastpage

67

Abstract

This paper presents an error-state extended Kalman filter with data fusion for orientation estimation. The rotation parameterization is described by quaternion representation. A MARG (magnetic, angular rate, gravity) sensor is used for measurement system. The nonlinear process model consists of 6 error-states and is independent of the rigid body dynamics. The nonlinear measurement model is obtained from the basic principles of accelerometer and magnetometer. The advantages of this approach are: independency of estimation process from the dynamic model of rigid body and avoiding the singularity in estimated error covariance matrix. Simulation results are presented to show the advantages of this approach and using the EKF.

Keywords

Kalman filters; covariance matrices; magnetic sensors; nonlinear systems; sensor fusion; data fusion; error covariance matrix; error-state extended Kalman filter; magnetic-angular rate-gravity sensor; nonlinear process model; orientation estimation; quaternion vector space; Accelerometers; Covariance matrix; Estimation error; Gravity; Magnetic sensors; Magnetic separation; Magnetometers; Nonlinear dynamical systems; Quaternions; Sensor systems; Error-State; Extended Kalman Filter (EKF); Orientation Estimation; Quaternion;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE, 2007 Annual Conference

Conference_Location

Takamatsu

Print_ISBN

978-4-907764-27-2

Electronic_ISBN

978-4-907764-27-2

Type

conf

DOI

10.1109/SICE.2007.4420951

Filename

4420951