Title :
A sensor fusion algorithm for an integrated angular position estimation with inertial measurement units
Author :
Sabatelli, Simone ; Sechi, Francesco ; Fanucci, Luca ; Rocchi, Alessandro
Author_Institution :
SensorDynamics AG, Pisa, Italy
Abstract :
This work presents an orientation tracking system for 6D inertial measurements units. The system was modeled with MathWorks Simulink and experimentally tested with the Cube Demo board by SensorDynamics, used to simulate a 3D gyro and a 3D accelerometer. Quaternions were used to represent the angular position and an Extended Kalman filter was used for the sensor fusion algorithm. The goal was to obtain an integrated system that could be easily integrated within the logic of the new 6D sensor family produced by SensorDynamics. We propose a Kalman filter simplification for a fixed point arithmetic implementation to reduce the system complexity with negligible performance degradation.
Keywords :
Kalman filters; accelerometers; sensor fusion; units (measurement); 3D accelerometer; 6D inertial measurement unit; SensorDynamics; extended Kalman filter; integrated angular position estimation; integrated system; sensor fusion algorithm; tracking system; Accelerometers; Equations; Estimation; Filtering algorithms; Kalman filters; Mathematical model; Quaternions; Kaiman filter; angular position; inertial measurement unit; orientation tracking; quaternions; sensor fusion;
Conference_Titel :
Design, Automation & Test in Europe Conference & Exhibition (DATE), 2011
Conference_Location :
Grenoble
Print_ISBN :
978-1-61284-208-0
DOI :
10.1109/DATE.2011.5763273