Development of a tiny orientation estimation device to operate under motion and magnetic disturbance

International Journal of Robotics Research

Volumn 26, Issue 6, 2007, Pages 547-559

  Harada, Tatsuya ^a   Mori, Taketoshi ^a   Sato, Tomomasa ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

Absolute orientation; Magnetic disturbance; Motion disturbance; Sensor fusion; Sigma points kalman filters

Indexed keywords

ACCELEROMETERS; ALGORITHMS; GEOMAGNETISM; KALMAN FILTERS; MAGNETIC FIELD EFFECTS; MAGNETOMETERS; MOTION PLANNING; SENSOR DATA FUSION;

ABSOLUTE ORIENTATION; MAGNETIC DISTURBANCE; MOTION DISTURBANCE; SIGMA POINTS KALMAN FILTERS;

ROBOTICS;

EID: 34347360713     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364907079272     Document Type: Conference Paper

References (9)

1. Bachmann, E.R., Yun, X., McKinney, D., McGhee, R.B., and Jyda, M.J. (2003). Design and implementation of marg sensors for 3-dof orientation measurement of rigid bodies. Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp. 11711178.
2. Foxlin, E. (1996). Inertial head-tracker sensor fusion by a complimentary separate-bias kalman filter. Proceedings of 1996 Virtual Reality Annual International Symposium (VRAIS 96), pp. 185194.
3. Foxlin, E., Harrington, M., and Altshuler Y. (1998). Miniature 6-dof inertial system for tracking hmds. SPIE Vol. 3362, Helmet- and Head-mounted Displays III, pp. 214 228.
4. Marins, J.L., Yun X., Bachmann, E.R., McGhee, R.B., and Zyda, M.J. (2001). An extended Kalman filter for quaternion-based orientation estimation using marg sensors. Proceedings of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2003 2011.
5. Rehbinder, H. and Hu, X. (2001). Drift-free attitude estimation for accelerated rigid bodies. Proceedings of the 2001 IEEE International Conference on Robotics Automation, pp. 42444249.
6. van der Merwe, R. and Wan, E. (2003). Sigma-point kalman filters for probabilistic inference in dynamic state-space models. Proceedings of the Workshop on Advances in Machine Learning, Montreal, June.
7. van der Merwe, R., de Freitas, N., Doucet, A., and Wan E. (2000). The unscented particle filter. Technical Report CUED/F-INFENG/TR380, Cambridge University Engineering Department.
8. van der Merwe, R. and Wan, E. (2001). The square-root unscented kalman filter for state and parameter-estimation. International Conference on Acoustics, Speech, and SignalProcessing, pp. 34613464.
9. Yun, X., Lizarraga, M., Bachmann, E.R., and McGhee, R. B. (2003). An improved quaternion-based kalman filter for real-time tracking of rigid body orientation. Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 10741079.