An orientation estimation strategy for low cost IMU using a nonlinear Luenberger observer
In this work a new orientation estimation strategy for a non-accelerated platform is presented. The proposed strategy is based on a low-cost inertial measurement unit (IMU). Orientation angles are obtained using a nonlinear Luenberger observer, while the common offset issues on the magnetometer are...
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| Veröffentlicht in: | Measurement : journal of the International Measurement Confederation 2021-03, Vol.173, p.108664, Article 108664 |
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| container_title | Measurement : journal of the International Measurement Confederation |
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| creator | Aligia, Diego A. Roccia, Bruno A. De Angelo, Cristian H. Magallán, Guillermo A. González, Guillermo N. |
| description | In this work a new orientation estimation strategy for a non-accelerated platform is presented. The proposed strategy is based on a low-cost inertial measurement unit (IMU). Orientation angles are obtained using a nonlinear Luenberger observer, while the common offset issues on the magnetometer are calibrated by a recursive least-square algorithm. The strategy is implemented using a TM4C123GXL microcontroller and a MPU9150 sensor (nine-axis: gyro, accelerometer and magnetometer), which makes it a low-cost, compact system. Experimental results for the calibration and estimation procedures are shown to validate the proposal.
•Orientation estimation observer is designed to run in a low cost microcontroller.•Orientation angles are obtained using a nonlinear Luenberger observer.•Hard iron offset are calibrated by a recursive least-square algorithm. |
| doi_str_mv | 10.1016/j.measurement.2020.108664 |
| format | Article |
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•Orientation estimation observer is designed to run in a low cost microcontroller.•Orientation angles are obtained using a nonlinear Luenberger observer.•Hard iron offset are calibrated by a recursive least-square algorithm.</description><subject>Accelerometers</subject><subject>Algorithms</subject><subject>Calibration</subject><subject>Estimating techniques</subject><subject>HIO calibration</subject><subject>Inertial measurement unit</subject><subject>Inertial platforms</subject><subject>Low cost</subject><subject>Microcontrollers</subject><subject>Nonlinear Luenberger observer</subject><subject>Nonlinear systems</subject><subject>Orientation</subject><subject>Orientation estimation</subject><subject>Sensors</subject><issn>0263-2241</issn><issn>1873-412X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><recordid>eNqNkE1PwzAMhiMEEmPwH4I4d-SjzdrjNPExaYgLk-AUNak7pdqS4bRD_HsylQNHLrZl-bX9PoTccjbjjKv7braHOg4Ie_D9TDBx6pdK5Wdkwsu5zHIu3s_JhAklMyFyfkmuYuwYY0pWakI-Fp4GdElc9y54CrF3-7GMPdY9bL9pG5Duwhe1IfZ09bKhQ3R-S2vqg985DzXS9QDeAG4BaTAR8Ah4TS7aehfh5jdPyebx4W35nK1fn1bLxTqzMq_6TJqCy1LWvIGqFMzaoq0MMza1541MQVWFaoRp8tZURjRclZbVpTK2aOzcGjkld-PeA4bPIf2vuzCgTye1KBjPqzyX8zRVjVMWQ4wIrT5gMorfmjN9Iqk7_YekPpHUI8mkXY5aSDaODlBHm4hZaByC7XUT3D-2_ADNoYQi</recordid><startdate>202103</startdate><enddate>202103</enddate><creator>Aligia, Diego A.</creator><creator>Roccia, Bruno A.</creator><creator>De Angelo, Cristian H.</creator><creator>Magallán, Guillermo A.</creator><creator>González, Guillermo N.</creator><general>Elsevier Ltd</general><general>Elsevier Science Ltd</general><scope>AAYXX</scope><scope>CITATION</scope><orcidid>https://orcid.org/0000-0002-1778-2040</orcidid><orcidid>https://orcid.org/0000-0001-8080-927X</orcidid></search><sort><creationdate>202103</creationdate><title>An orientation estimation strategy for low cost IMU using a nonlinear Luenberger observer</title><author>Aligia, Diego A. ; Roccia, Bruno A. ; De Angelo, Cristian H. ; Magallán, Guillermo A. ; González, Guillermo N.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c349t-3b51383a1de9820cc5f9b0bcb517d35176956d2bd4fb9b2d168c0a86bc5dc7cb3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2021</creationdate><topic>Accelerometers</topic><topic>Algorithms</topic><topic>Calibration</topic><topic>Estimating techniques</topic><topic>HIO calibration</topic><topic>Inertial measurement unit</topic><topic>Inertial platforms</topic><topic>Low cost</topic><topic>Microcontrollers</topic><topic>Nonlinear Luenberger observer</topic><topic>Nonlinear systems</topic><topic>Orientation</topic><topic>Orientation estimation</topic><topic>Sensors</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Aligia, Diego A.</creatorcontrib><creatorcontrib>Roccia, Bruno A.</creatorcontrib><creatorcontrib>De Angelo, Cristian H.</creatorcontrib><creatorcontrib>Magallán, Guillermo A.</creatorcontrib><creatorcontrib>González, Guillermo N.</creatorcontrib><collection>CrossRef</collection><jtitle>Measurement : journal of the International Measurement Confederation</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Aligia, Diego A.</au><au>Roccia, Bruno A.</au><au>De Angelo, Cristian H.</au><au>Magallán, Guillermo A.</au><au>González, Guillermo N.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>An orientation estimation strategy for low cost IMU using a nonlinear Luenberger observer</atitle><jtitle>Measurement : journal of the International Measurement Confederation</jtitle><date>2021-03</date><risdate>2021</risdate><volume>173</volume><spage>108664</spage><pages>108664-</pages><artnum>108664</artnum><issn>0263-2241</issn><eissn>1873-412X</eissn><abstract>In this work a new orientation estimation strategy for a non-accelerated platform is presented. The proposed strategy is based on a low-cost inertial measurement unit (IMU). Orientation angles are obtained using a nonlinear Luenberger observer, while the common offset issues on the magnetometer are calibrated by a recursive least-square algorithm. The strategy is implemented using a TM4C123GXL microcontroller and a MPU9150 sensor (nine-axis: gyro, accelerometer and magnetometer), which makes it a low-cost, compact system. Experimental results for the calibration and estimation procedures are shown to validate the proposal.
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| ispartof | Measurement : journal of the International Measurement Confederation, 2021-03, Vol.173, p.108664, Article 108664 |
| issn | 0263-2241 1873-412X |
| language | eng |
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| source | Elsevier ScienceDirect Journals |
| subjects | Accelerometers Algorithms Calibration Estimating techniques HIO calibration Inertial measurement unit Inertial platforms Low cost Microcontrollers Nonlinear Luenberger observer Nonlinear systems Orientation Orientation estimation Sensors |
| title | An orientation estimation strategy for low cost IMU using a nonlinear Luenberger observer |
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