Title :
Quaternion-based orientation estimation with static error reduction
Author :
Seo, Eun-Ho ; Park, Chan-Soo ; Kim, Doik ; Song, Jae-Bok
Author_Institution :
Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea
Abstract :
Tracking the orientation or attitude of an object has many applications in various research fields. This paper presents a tracking system which estimates the orientation of an object using an angular rate sensor, accelerometer, and magnetometer. For the combined usage of the sensors, the Kalman filter and the Factored Quaternion Algorithm (FQA) are applied to the proposed system. We also propose a method to eliminate the drift effect of the angular rate sensor in static state. The experimental results show that the proposed tracking system can estimate an accurate rotation of an object and can eliminate the drift effect in static state.
Keywords :
Kalman filters; accelerometers; magnetometers; object tracking; Kalman filter; accelerometer; angular rate sensor; drift effect; factored quaternion algorithm; magnetometer; object attitude; object rotation; quaternion based orientation estimation; static error reduction; Acceleration; Accelerometers; Estimation; Gravity; Kalman filters; Magnetometers; Quaternions;
Conference_Titel :
Mechatronics and Automation (ICMA), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8113-2
DOI :
10.1109/ICMA.2011.5985957