Inertial/magnetic sensors based orientation tracking on the group of rigid body rotations with application to wearable devices

Campolo D., Keller F., Guglielmelli E.
Biomedical Robotics and EMC Lab., Università Campus Bio-Medico, 00155 Roma, Italy; Developmental Neuroscience and Neural Plasticity Lab., Università Campus Bio-Medico, 00155 Roma, Italy

Abstract: In this work the problem of orientation tracking based on inertial/magnetic sensors is restated in geometric terms, in particular an intrinsic observer, i.e. an observer whose performance does not depend on a specific choice of coordinates, is derived on the Lie group of rigid body rotations SO(3). Measurements of the gravitational and geomagnetic fields are used to estimate orientation errors. A coordinate-free control law is defined on the Lie algebra and fed back in terms of angular velocity that steers the observer towards the correct attitude. A proof of stability for the proposed estimator is provided which relies on the natural (bi-invariant) metric of SO(3). The observer results stable for almost the whole configuration space. Presence of unstable equilibria as a limitation for global stability is also discussed. Based on the proposed intrinsic control law, a filter is designed which implements the observer. Simulations are presented that test the numerical implementation of the proposed observer. © 2006 IEEE.

Year: 2006
Source title: IEEE International Conference on Intelligent Robots and Systems
Art. No.: 4059170
Page : 4762-4767
Cited by: 2
Link: Scorpus Link
Document Type: Conference Paper
Source: Scopus
Authors with affiliations:

1. Campolo, D., Biomedical Robotics and EMC Lab., Università Campus Bio-Medico, 00155 Roma, Italy
2. Keller, F., Developmental Neuroscience and Neural Plasticity Lab., Università Campus Bio-Medico, 00155 Roma, Italy
3. Guglielmelli, E., Biomedical Robotics and EMC Lab., Università Campus Bio-Medico, 00155 Roma, Italy

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