An adaptive kalman filter for three dimensional attitude tracking

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.