Paper Info
Title
Complementary filtering approach to orientation estimation using inertial sensors only.
Abstract
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.
Year
DOI
Venue
2012
10.1109/ICRA.2012.6224564
ICRA
Keywords
Field
DocType
attitude control,filtering theory,magnetic field measurement,magnetometers,mobile robots,path planning,sensor fusion,sensors,AHRS,accelerations,angular rates,attitude-and-heading reference system,complementary filtering approach,inertial data fusion,inertial sensors,magnetic field disturbance,magnetic field vibration,magnetic measurements,magnetometer aiding,mobile robot,orientation estimation,pitch orientation angle,robot field-testing,roll orientation angle,yaw orientation angle
Control theory,Control engineering,Attitude control,Inertial measurement unit,Artificial intelligence,Inertial frame of reference,Motion planning,Computer vision,Filter (signal processing),Attitude and heading reference system,Sensor fusion,Engineering,Mobile robot
Conference
Volume
Issue
ISSN
2012
1
1050-4729
Citations 
PageRank 
References 
10
0.80
6
Authors
2
Name
Order
Citations
PageRank
Vladimir Kubelka1394.85
Michal Reinstein21238.62