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3D Orientation tracking based on unscented Kalman filtering of accelerometer and magnetometer data

Benoît Huyghe (UGent) , Jan Doutreloigne (UGent) and Jan Vanfleteren (UGent)
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Abstract
Orientation estimation can be executed by comparing the output of a 3D accelerometer and a 3D magnetometer with respectively gravity and local magnetic field vectors. For this purpose, an unscented Kalman filter was designed and tested. However, accelerometers also measure motion other than gravity, resulting in an error when estimating orientation directly from their output signals. Therefore, extra filters are added and the input parameters of the Kalman filter are dynamically varied, in order to reduce the effect of motion. Simulations are performed to tune the filter parameters for minimal motion influence without hampering actual orientation tracking. Satisfactory orientation tracking is performed with the filter using actual sensor nodes.
Keywords
Kalman Filter, Accelerometer, Magnetometer, Euler Angles, Orientation, MOTION

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Citation

Please use this url to cite or link to this publication:

Chicago
Huyghe, Benoît, Jan Doutreloigne, and Jan Vanfleteren. 2009. “3D Orientation Tracking Based on Unscented Kalman Filtering of Accelerometer and Magnetometer Data.” In SAS 2009 - IEEE SENSORS APPLICATIONS SYMPOSIUM, PROCEEDINGS, 148–152. New York, NY, USA: IEEE.
APA
Huyghe, B., Doutreloigne, J., & Vanfleteren, J. (2009). 3D Orientation tracking based on unscented Kalman filtering of accelerometer and magnetometer data. SAS 2009 - IEEE SENSORS APPLICATIONS SYMPOSIUM, PROCEEDINGS (pp. 148–152). Presented at the 4th IEEE Sensors Applications Symposium (SAS 2009), New York, NY, USA: IEEE.
Vancouver
1.
Huyghe B, Doutreloigne J, Vanfleteren J. 3D Orientation tracking based on unscented Kalman filtering of accelerometer and magnetometer data. SAS 2009 - IEEE SENSORS APPLICATIONS SYMPOSIUM, PROCEEDINGS. New York, NY, USA: IEEE; 2009. p. 148–52.
MLA
Huyghe, Benoît, Jan Doutreloigne, and Jan Vanfleteren. “3D Orientation Tracking Based on Unscented Kalman Filtering of Accelerometer and Magnetometer Data.” SAS 2009 - IEEE SENSORS APPLICATIONS SYMPOSIUM, PROCEEDINGS. New York, NY, USA: IEEE, 2009. 148–152. Print.
@inproceedings{820072,
  abstract     = {Orientation estimation can be executed by comparing the output of a 3D accelerometer and a 3D magnetometer with respectively gravity and local magnetic field vectors. For this purpose, an unscented Kalman filter was designed and tested. However, accelerometers also measure motion other than gravity, resulting in an error when estimating orientation directly from their output signals. Therefore, extra filters are added and the input parameters of the Kalman filter are dynamically varied, in order to reduce the effect of motion. Simulations are performed to tune the filter parameters for minimal motion influence without hampering actual orientation tracking. Satisfactory orientation tracking is performed with the filter using actual sensor nodes.},
  author       = {Huyghe, Beno{\^i}t and Doutreloigne, Jan and Vanfleteren, Jan},
  booktitle    = {SAS 2009 - IEEE SENSORS APPLICATIONS SYMPOSIUM, PROCEEDINGS},
  isbn         = {9781424427864},
  language     = {eng},
  location     = {New Orleans, LA, USA},
  pages        = {148--152},
  publisher    = {IEEE},
  title        = {3D Orientation tracking based on unscented Kalman filtering of accelerometer and magnetometer data},
  url          = {http://dx.doi.org/10.1109/SAS.2009.4801796},
  year         = {2009},
}

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