MATEC Web of Conferences
Volume 59, 20162016 International Conference on Frontiers of Sensors Technologies (ICFST 2016)
|Number of page(s)||6|
|Section||Electronic engineering and sensing technology|
|Published online||24 May 2016|
Quaternion-based pseudo kalman filter for wearable inertial/magnetic sensor applications
Department of Mechanical Engineering, Hankyong National University, Anseong 17579, Korea
This paper deals with orientation estimation using miniature inertial/magnetic sensor comprised of a tri-axial rate gyro, a tri-axial accelerometer, and a tri-axial magnetometer. Particularly, a novel quaternion-based pseudo Kalman filter (KF) is proposed by modifying an indirect KF, in order to maximize the computational efficiency and implementation simplicity. In the proposed pseudo KF, time-update process for prediction is based on the quaternion itself, while measurement-update process for correction is performed through the quaternion error. Experimental tests were conducted to verify performance of the proposed algorithm in various dynamic conditions. By designing the pseudo KF structure, matrix operations required in a typical KF are simplified. For instance, the proposed KF does not require the evaluation of the a priori and a posteriori error covariance matrices. Thus, the proposed algorithm achieves higher computational efficiency even than a typical indirect KF, without sacrificing estimation accuracy. Due to its high efficiency, the proposed algorithm can be suitable for battery-powered and low cost processor-based wearable inertial/magnetic sensor applications.
© Owned by the authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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