Abstract
In this paper an adaptation mechanism of feedback in Kalman filtering is presented for orientation estimation of rigid body. This filter fuses the measurements from Inertial Measurement Unit (IMU) sensors to determine the 3D orientation. It is well known that a factor that strongly influences the orientation measurement is the existence and magnitude of the external acceleration of the IMU sensor. To show results of simulated experiments the quaternion-based Extended Kalman Filter with and without adaptation regarding accelerometers measurement mechanism were implemented.
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Pruszowski, P., Szczesna, A., Polański, A., Słupik, J., Wojciechowski, K. (2015). Adaptation Mechanism of Feedback in Quaternion Kalman Filtering for Orientation Estimation. In: Rutkowski, L., Korytkowski, M., Scherer, R., Tadeusiewicz, R., Zadeh, L., Zurada, J. (eds) Artificial Intelligence and Soft Computing. ICAISC 2015. Lecture Notes in Computer Science(), vol 9120. Springer, Cham. https://doi.org/10.1007/978-3-319-19369-4_65
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DOI: https://doi.org/10.1007/978-3-319-19369-4_65
Publisher Name: Springer, Cham
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