An adaptive kalman filter for three dimensional attitude tracking

Author

Hu, Xiaoming ; Li, Qin ; He, Changyu ; Liu, Yue

Author_Institution

Beijing Inst. of Technol., Beijing, China

fYear

2011

fDate

19-20 March 2011

Firstpage

151

Lastpage

154

Abstract

An adaptive kalman filter for three dimensional attitude tracking is presented in this paper. Such filter can be used in the low cost system with only a triaxis accelerometer and a triaxis magnetometer where dynamic attitude tracking is needed. An adaptive kalman filter for three dimensional attitude tracking which dynamically updates the measurement variance according to the mode of acceleration is proposed. The proposed filter is implemented and evaluated on a homemade attitude tracking module. Experimental results show that this method can be used for low-cost real time human machine interface.

Keywords

accelerometers; adaptive Kalman filters; attitude measurement; human computer interaction; magnetometers; sensor fusion; 3D attitude tracking; adaptive Kalman filter; dynamic attitude tracking; measurement variance; real time human machine interface; triaxis accelerometer; triaxis magnetometer; Accelerometers; Kalman filters; Magnetic sensors; Magnetic separation; Magnetometers; Noise; Attitude Determination; Human Machine Interface; Kalman filter;

fLanguage

English

Publisher

ieee

Conference_Titel

VR Innovation (ISVRI), 2011 IEEE International Symposium on

Conference_Location

Singapore

Print_ISBN

978-1-4577-0055-2

Electronic_ISBN

978-1-4577-0054-5

Type

conf

DOI

10.1109/ISVRI.2011.5759620

Filename

5759620