NDLI: Improved orientation estimation in complex environments using low-cost inertial sensors

Content Provider	IEEE Xplore Digital Library
Author	Johnson, M.E. Sathyan, T.
Copyright Year	2011
Description	Author affiliation: Information and Communication Technologies Center, CSIRO, Marsfield, NSW, Australia (Johnson, M.E.; Sathyan, T.)
Abstract	Localization in outdoor environments is widespread, providing improved functionality and benefits for many applications. Extending this ability to in-building environments is a critical prerequisite for many location aware services. Low cost inertial sensors have the potential to improve the performance of new and existing localization systems. A challenging problem in inertial navigation is the accurate tracking of orientation. In this paper we propose a new orientation tracking algorithm that uses a complementary Kalman filter (CKF) for obtaining a reference orientation. A feedback loop is developed, which estimates the gyro bias from the CKF reference. The final orientation is the direct integration of the gyro, after removing the estimated bias. Experimental results show that the proposed algorithm provides significantly improved orientation estimates in the presence of magnetic anomalies and sensor movement, as well as increased stability and reduced noise compared the original CKF algorithm. Position calculations, using a zero-velocity update process, demonstrate the advantages of the enhanced orientation estimate as clear improvements in consequent localization.
Starting Page	1
Ending Page	8
File Size	860230
Page Count	8
File Format	PDF
ISBN	9781457702679
e-ISBN	9780982443828
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Intl Society of Info Fusion
Subject Keyword	Sensors Accelerometers Magnetometers Quaternions Kalman filters Noise Foot zero-velocity update Orientation tracking sensor fusion Kalman filter drift correction dead reckoning
Content Type	Text
Resource Type	Article

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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
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