A quaternion-based orientation estimation algorithm using an inertial measurement unit

Record - IEEE PLANS, Position Location and Navigation Symposium

Volumn , Issue , 2004, Pages 268-272

  Kim, Anthony ^a   Golnaraghi, M F ^a  

^a UNIVERSITY OF WATERLOO   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ACCELERATION; ALGORITHMS; COMPUTER SIMULATION; KALMAN FILTERING; LIGHT EMITTING DIODES; MICROELECTROMECHANICAL DEVICES; REAL TIME SYSTEMS; SENSORS; TRACKING (POSITION); VECTORS;

ERROR DRIFTS; INERTIAL MEASUREMENT UNIT (IMU); INERTIAL ORIENTATION TRACKERS; QUATERNION STATES;

INERTIAL NAVIGATION SYSTEMS;

EID: 2942644104     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. Peter S. Maybeck, Stochastic Models, Estimation, and Control: Volume 1. New York: Academic Press, Inc., 1979.
2. Peter S. Maybeck, Stochastic Models, Estimation, and Control: Volume 2. New York: Academic Press, Inc., 1979.
3. nd Edition. New York: John Wiley & Sons, 2001.
4. Jack B. Kuipers, Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace, and Virtual Reality. Princeton University Press, 1999.
5. J. Vaganay, M.J. Aldon, A. Fournier, "Mobile robot attitude estimation by fusion of inertial data," Proceedings of IEEE International Conference on Robotics and Automation, May 2-6, 1993, Vol.1, pp. 277 -282.
6. J.L. Marins, Y. Xiaoping, E.R. Bachmann, R.B. McGhee, M.J. Zyda, "An extended Kalman filter for quaternion-based orientation estimation using MARG sensors," Proc. of the IEEE International Conference on Intelligent Robots and Systems 2001, Vol. 4, pp. 2003 -2011.
7. E. Foxlin, "Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter," Proc. of the IEEE Virtual Reality Annual International Symposium, Mar. 30-Apr. 3, 1996, pp. 185-194.
8. R. Azuma, B. Hoff, H. Neely, R. Sarfaty, "A Motion-Stabilized Outdoor Augmented Reality System," Proceedings of IEEE Virtual Reality '99, March 13-17, 1999, pp. 252-259.
9. A. Kim, Y.K. Peng, M.F. Goinaraghi, "Initial Calibration of an Inertial Measurement Unit Using an Optical Position Tracking System," Proceedings of the IEEE Position Location and Navigation Symposium, April 26-29, 2004, in press.
10. A. Kim, Y.K, Peng, M.F. Goinaraghi, "A Sensor Fusion Algorithm for GPS, Strapdown and Gyro-Free Inertial Navigation Systems,'' Proc. of the CSME Forum 2004, June 1-4, 2004, in press.