Fast AHRS filter for accelerometer, magnetometer and gyroscope combination with separated sensor correstions

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23220%2F20%3A43960144" target="_blank" >RIV/49777513:23220/20:43960144 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/1424-8220/20/14/3824" target="_blank" >https://www.mdpi.com/1424-8220/20/14/3824</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/s20143824" target="_blank" >10.3390/s20143824</a>

Result language

angličtina

Original language name

Fast AHRS filter for accelerometer, magnetometer and gyroscope combination with separated sensor correstions

Original language description

A new predictor–corrector filter for attitude and heading reference systems (AHRS) using data from an orthogonal sensor combination of three accelerometers, three magnetometers and three gyroscopes is proposed. The filter uses the predictor—corrector structure, with prediction based on gyroscopes and independent correction steps for acceleration and magnetic field sensors. We propose two variants of the filter: (i) one using mathematical operations of special orthogonal group SO(3), that are accurate for nonlinear operations, for highest possible accuracy, and (ii) one using linearization of nonlinear operations for fast evaluation. Both approaches are quaternion-based filter realizations without redundant steps. The filters are compared to state of the art methods in this field on data recorded using low-cost microelectromechanical systems (MEMS) sensors with ground truth measured by the VICON optical system. Both filters achieved better accuracy than conventional methods at lower computational cost. The recorded data with ground truth reference and the source codes of both filters are publicly available.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20201 - Electrical and electronic engineering

Project

<a href="/en/project/EF18_069%2F0009855" target="_blank" >EF18_069/0009855: Electrical Engineering Technologies with High-Level of Embedded Intelligence</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

SENSORS

ISSN

1424-8220

e-ISSN

—

Volume of the periodical

20

Issue of the periodical within the volume

14

Country of publishing house

CH - SWITZERLAND

Number of pages

19

Pages from-to

1-19

UT code for WoS article

000557553600001

EID of the result in the Scopus database

2-s2.0-85087760681