Complementary Filtering Approach to Orientation Estimation using Inertial Sensors Only

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Complementary Filtering Approach to Orientation Estimation using Inertial Sensors Only

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Complementary Filtering Approach to Orientation Estimation using Inertial Sensors Only

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

—

Projekt

<a href="/cs/project/7E10044" target="_blank" >7E10044: Natural human-robot cooperation in dynamic environments</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2012

Kód důvěrnosti údajů

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

Název statě ve sborníku

ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation

ISBN

978-1-4673-1405-3

ISSN

—

e-ISSN

—

Počet stran výsledku

7

Strana od-do

599-605

Název nakladatele

IEEE

Místo vydání

New York

Místo konání akce

St. Paul, Minnesota

Datum konání akce

14. 5. 2012

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000309406700089