A Robust Orientation Estimation Algorithm Using MARG Sensors

This paper presents a robust orientation estimation algorithm by using magnetic, angular rate, and gravity sensors. The robustness is achieved by two online methods: compensation of hard iron effect for the magnetometer and separation of the accelerometer signals into gravity projections and linear...

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Veröffentlicht in:	IEEE transactions on instrumentation and measurement 2015-03, Vol.64 (3), p.815-822
Hauptverfasser:	Hu, Jwu-Sheng, Sun, Kuan-Chun
Format:	Artikel
Sprache:	eng
Schlagworte:	9-D inertial measurement unit (IMU) Acceleration and gravity (MARG) sensors angular rate direct cosine matrix (DCM) Estimation Gravity gravity projection Iron magnetic Magnetic separation Magnetometers orientation estimation real-time hard iron compensation sensor fusion state-constrained Kalman filter Vectors
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