Ultra-miniaturized WB-3 Inertial Measurement Unit: Performance evaluation of the attitude estimation

Author

Sessa, S. ; Zecca, M. ; Lin, Z. ; Bartolomeo, L. ; Itoh, K. ; Ishii, H. ; Mukaeda, Y. ; Suzuki, Y. ; Takanishi, A.

Author_Institution

Grad. Sch. of Adv. Sci. & Eng., Waseda Univ., Tokyo, Japan

fYear

2010

fDate

14-18 Dec. 2010

Firstpage

998

Lastpage

1003

Abstract

This paper presents the comparison of the WB-3 ultra-miniaturized inertial measurement unit (IMU), developed by our group, with the commercial IMU IntertiaCube by InterSense and the Vicon motion capture system. WB-3 is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). We implemented an Extended Kalman Filter (EKF) based on quaternion for the sensor fusion to retrieve the attitude. A new methodology for the automatic estimation of the measurement covariance matrix on the EKF is presented (R-Adaptive Algorithm). The preliminary results showed that WB-3 performance is comparable with Vicon. The R-Adaptive Algorithm improves the attitude reconstruction in case of non-static condition compared with the commercial IMU.

Keywords

Kalman filters; aerospace robotics; attitude measurement; covariance matrices; microcontrollers; microsensors; sensor fusion; 32-bit microcontroller; IMU IntertiaCube; InterSense; R-Adaptive Algorithm; Vicon motion capture system; WB-3 ultraminiaturized inertial measurement unit; automatic attitude estimation; covariance matrix measurement; extended Kalman filter; inertial sensor; sensor fusion; Biomimetics; Conferences; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4244-9319-7

Type

conf

DOI

10.1109/ROBIO.2010.5723462

Filename

5723462