NDLI: Embedded Kalman Filter for Inertial Measurement Unit (IMU) on the ATMega8535

Content Provider	IEEE Xplore Digital Library
Author	Ferdinando, H. Khoswanto, H. Purwanto, D.
Copyright Year	2012
Description	Author affiliation: Department of Electrical Engineering, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia (Purwanto, D.) \|\| Department of Electrical Engineering, Universitas Kristen Petra, Surabaya, Indonesia (Ferdinando, H.; Khoswanto, H.)
Abstract	The Kalman Filter is very useful in prediction and estimation. In this paper, the Kalman Filter is implemented for Inertial Measurement Unit (IMU) on the ATMega8535. The sensors used in this system are accelerometer MMA7260QT and gyroscope GS-12. The system chooses the arbitrary sampling time and then it is evaluated for possible using smaller value. As the Kalman Filter operation needs matrix calculation, the formula is converted into several ordinary equations. The parameter being investigated in this paper is measurement covariance matrix. This parameter influences the way the Kalman Filter responses to noise. Bigger value makes the Kalman Filter less sensitive to noise and the estimation is too smooth, thus it does not give real angle estimation. Using smaller value makes the Kalman Filter more sensitive to noise. This makes the estimated angle still suffers from noise and it is likely that the Kalman Filter is useless. This paper recommends 0.0001 to 0.001 for the measurement covariance noise parameter. This paper also recommended a pipeline configuration if the control algorithm needs more space in a sampling time.
Starting Page	1
Ending Page	5
File Size	706584
Page Count	5
File Format	PDF
ISBN	9781467314466
e-ISBN	9781467314480
DOI	10.1109/INISTA.2012.6246978
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-02
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Accelerometers IMU Microcontrollers Kalman Filter Noise Accelerometer Gyroscope Gyroscopes Sensors Kalman filters Noise measurement
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in