A complementary observer-based approach for the estimation of motion in rigid bodies using inertial and magnetic sensors

Autor:	Yves Handrich, N. Manamanni, Hassen Fourati, P. Van Hove, L. Afilal
Rok vydání:	2010
Předmět:	Physics Attitude control Inertial frame of reference Inertial measurement unit law Control theory Motion estimation Gyroscope Quaternion Rigid body Accelerometer law.invention
Zdroj:	CCA
DOI:	10.1109/cca.2010.5611292
Popis:	This paper addresses the problem of rigid body orientation tracking. A complementary nonlinear observer is proposed for attitude estimation using inertial/magnetic sensors. The approach developed here is applied in Bio-logging, an interdisciplinary research area at the intersection of animal behavior and bioengineering. We propose a state estimation algorithm that combines three complementary data obtained from a 3-axis accelerometer, a 3-axis magnetometer and a 3-axis gyroscope in order to provide the best attitude. The proposed algorithm is based on a nonlinear observer coupled with an Iterated Least Squares Algorithm (ISLA). The evaluation of the state estimator by simulation is followed by some experiments illustrating the efficiency of the proposed approach.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::0bbb880c28091dd08edc261fb4a085c9 https://doi.org/10.1109/cca.2010.5611292 Zobrazit plný text záznamu