Complementary Filtering Approach to Orientation Estimation using Inertial Sensors Only
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00200543" target="_blank" >RIV/68407700:21230/12:00200543 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICRA.2012.6224564" target="_blank" >http://dx.doi.org/10.1109/ICRA.2012.6224564</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2012.6224564" target="_blank" >10.1109/ICRA.2012.6224564</a>
Alternative languages
Result language
angličtina
Original language name
Complementary Filtering Approach to Orientation Estimation using Inertial Sensors Only
Original language description
Precise and reliable estimation of orientation plays crucial role for any mobile robot operating in unknown environment. The most common solution to determination of the three orientation angles: pitch, roll, and yaw, relies on the Attitude and Heading Reference System (AHRS) that exploits inertial data fusion (accelerations and angular rates) with magnetic measurements. However, in real world applications strong vibration and disturbances in magnetic field usually cause this approach to provide poor results. Therefore, we have devised a new approach to orientation estimation using inertial sensors only. It is based on modified complementary filtering and was proved by precise laboratory testing using rotational tilt platform as well as by robot field-testing. In the final, the algorithm well outperformed the commercial AHRS solution based on magnetometer aiding.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/7E10044" target="_blank" >7E10044: Natural human-robot cooperation in dynamic environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation
ISBN
978-1-4673-1405-3
ISSN
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e-ISSN
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Number of pages
7
Pages from-to
599-605
Publisher name
IEEE
Place of publication
New York
Event location
St. Paul, Minnesota
Event date
May 14, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000309406700089