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Reference-Free Adaptive Attitude Determination Method Using Low-Cost MARG Sensors

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Computer Vision Systems (ICVS 2019)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 11754))

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Abstract

In this paper, an improved iterative method for attitude determination using microelectromechanical-system (MEMS) Magnetic, Angular Rate, and Gravity (MARG) sensors is proposed. The proposed complementary filter is motivated by several existing algorithms and it decreases the amount of variables for iteration which consequently lowers the convergence time. To enhance the adaptive ability i.e. the performance under external acceleration, of the proposed method, a novel scheme is designed, where the gravity estimation residual is utilized for adaptive tuning of the complementary gain. Experiments are carried out to demonstrate the advantages of the proposed method. The comparisons with representative methods show that the proposed method is more effective, not only in convergence speed, but in dynamic performance under harsh conditions as well.

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Acknowledgment

This work was financially supported by Joint Foundation, Ministry of Commerce and GUFE (No. 2016SWBZD04); One Hundred Person Project of the Guizhou Province (No. QKH-PTRC[2016]5675); Plan Project for Guizhou Provincial Science and Technology (No. QKH-PTRC[2018]5803).

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Authors and Affiliations

  1. International Joint Research Center for Data Science and High-Performance Computing, School of Information, Guizhou University of Finance and Economics, Guizhou, China

    Jian Ding & Mingsen Deng

  2. Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China

    Jin Wu & Ming Liu

Authors
  1. Jian Ding
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  2. Jin Wu
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  3. Mingsen Deng
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  4. Ming Liu
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Corresponding author

Correspondence to Mingsen Deng .

Editor information

Editors and Affiliations

  1. Centre for Research and Technology Hellas (CERTH-ITI), Thessaloniki, Greece

    Dimitrios Tzovaras

  2. Centre for Research and Technology Hellas (CERTH-ITI), Thessaloniki, Greece

    Dimitrios Giakoumis

  3. Vienna University of Technology, Vienna, Austria

    Markus Vincze

  4. Foundation for Research and Technology Hellas (FORTH), Heraklion, Greece

    Antonis Argyros

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Ding, J., Wu, J., Deng, M., Liu, M. (2019). Reference-Free Adaptive Attitude Determination Method Using Low-Cost MARG Sensors. In: Tzovaras, D., Giakoumis, D., Vincze, M., Argyros, A. (eds) Computer Vision Systems. ICVS 2019. Lecture Notes in Computer Science(), vol 11754. Springer, Cham. https://doi.org/10.1007/978-3-030-34995-0_4

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  • DOI: https://doi.org/10.1007/978-3-030-34995-0_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-34994-3

  • Online ISBN: 978-3-030-34995-0

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