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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20201 - Electrical and electronic engineering

Projekt

<a href="/cs/project/EF18_069%2F0009855" target="_blank" >EF18_069/0009855: Elektrotechnické technologie s vysokým podílem vestavěné inteligence</a><br>

Návaznosti

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

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název periodika

SENSORS

ISSN

1424-8220

e-ISSN

—

Svazek periodika

20

Číslo periodika v rámci svazku

14

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

19

Strana od-do

1-19

Kód UT WoS článku

000557553600001

EID výsledku v databázi Scopus

2-s2.0-85087760681