Development of a tiny orientation estimation device to operate under motion and magnetic disturbance

Harada T., Mori T., Sato T.
Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Abstract: A tiny absolute orientation estimating device equipped with a network function has been developed using accelerometers and magnetometers to estimate gravity and the geomagnetic field, respectively. Because accelerometers measure motion other than gravity, a method has been proposed to eliminate the effect of motion. An estimation method is proposed that excludes the effect of magnetic disturbances. An advantage of this estimation method is that models can be switched according to the environment. Sigma Points Kalman Filters (SPKFs) were evaluated to determine the proper filter for the proposed algorithm. A Square-Root Central Difference Kalman Filter (SR-CDKF) was the best method considering stability, accuracy, and calculation cost. Using simulations and the realized device, the proposed algorithm stably estimated the orientation in the presence of motion and magnetic disturbances. © 2007 SAGE Publications.
Author Keywords: Absolute orientation; Magnetic disturbance; Motion disturbance; Sensor fusion; Sigma points kalman filters

Year: 2007
Source title: International Journal of Robotics Research
Volume: 26
Issue: 6
Page : 547-559
Cited by: 7
Link: Scorpus Link
Document Type: Conference Paper
Source: Scopus
Authors with affiliations:

1. Harada, T., Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
2. Mori, T., Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
3. Sato, T., Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Download Abstract: geo109.pdf