Orientation Estimation by Means of Extended Kalman Filter, Quaternions, and Charts

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/67917
Información del item - Informació de l'item - Item information
Title: Orientation Estimation by Means of Extended Kalman Filter, Quaternions, and Charts
Authors: Bernal-Polo, Pablo | Martínez Barberá, Humberto
Keywords: Extended Kalman filter | Quaternions | Attitude | Pose | Orientation | Estimation | IMU | Manifold | Charts
Knowledge Area: Ciencia de la Computación e Inteligencia Artificial
Issue Date: Jul-2017
Publisher: Red de Agentes Físicos
Citation: Journal of Physical Agents. 2017, 8(1): 11-24. doi:10.14198/JoPha.2017.8.1.03
Abstract: An orientation estimation algorithm is presented. This algorithm is based on the Extended Kalman Filter, and uses quaternions as the orientation descriptor. For the filter update, we use measurements from an Inertial Measurement Unit (IMU). The IMU consists in a triaxial angular rate sensor, and an also triaxial accelerometer. Quaternions describing orientations live in the unit sphere of R4. Knowing that this space is a manifold, we can apply some basic concepts regarding these mathematical objects, and an algorithm that reminds the also called “Multiplicative Extended Kalman Filter” arises in a natural way. The algorithm is tested in a simulated experiment, and in a real one.
URI: http://dx.doi.org/10.14198/JoPha.2017.8.1.03 | http://hdl.handle.net/10045/67917
ISSN: 1888-0258
DOI: 10.14198/JoPha.2017.8.1.03
Language: eng
Type: info:eu-repo/semantics/article
Rights: Creative Commons License Attribution-ShareAlike 4.0
Peer Review: si
Publisher version: http://www.jopha.ua.es/
Appears in Collections:Journal of Physical Agents - 2017, Vol. 8, No. 1

Files in This Item:
Files in This Item:
File Description SizeFormat 
ThumbnailJoPhA_08_01_03.pdf1,28 MBAdobe PDFOpen Preview

This item is licensed under a Creative Commons License Creative Commons