Adaptive-Gain Regulation of Extended Kalman Filter for Use in Inertial and Magnetic Units Based on Hidden Markov Model
| Autor: | Chen Yang, Jidong Lv, Cuiyun Peng, Yanping Zhu, Hailong Rong, Ling Zou |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Inertial frame of reference Computer science 010401 analytical chemistry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Gyroscope 02 engineering and technology Kalman filter Accelerometer 01 natural sciences 0104 chemical sciences law.invention Computer Science::Robotics Extended Kalman filter 020901 industrial engineering & automation Control theory law Range (statistics) Electrical and Electronic Engineering Hidden Markov model Instrumentation |
| Zdroj: | IEEE Sensors Journal. 18:3016-3027 |
| ISSN: | 2379-9153 1530-437X |
| Popis: | Magnetic and inertial measurement units (MIMUs) are promising tools for attitude tracking of moving bodies without location restriction. An extended Kalman filter (EKF) is a commonly used attitude algorithm for MIMUs, and its Kalman gain is usually regulated according to the measurements of the accelerometer for the best integrated performance, i.e., the best performance for both when the carrier is motionless and when the carrier is moving. A hidden Markov model (HMM) is introduced, and then trained using static measurements of the accelerometer. Once the body has a movement, the match probability between the dynamic measurements of the accelerometer and the trained HMM will decrease, which is then used for the timely regulation of the Kalman gain to make the EKF rely more on the measurements of the gyroscope for attitude calculation. A slight revision to the introduced HMM is given for the improvement of the smoothness of the outputs of the HMM when the carrier is motionless. A relationship between the Kalman gain and the output of the HMM is also given, and the value range of the outputs of the HMM is readjusted in order to fit that relationship. Six competitive methods are compared with our method, and simulation and experiment tests validate the superiority of our method. |
| Databáze: | OpenAIRE |
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