...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE Transactions on Biomedical Engineering >Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing
【24h】

Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing

机译：基于四元数的扩展卡尔曼滤波器，用于通过惯性和磁感测确定方向

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

In this paper, a quaternion based extended Kalman filter (EKF) is developed for determining the orientation of a rigid body from the outputs of a sensor which is configured as the integration of a tri-axis gyro and an aiding system mechanized using a tri-axis accelerometer and a tri-axis magnetometer. The suggested applications are for studies in the field of human movement. In the proposed EKF, the quaternion associated with the body rotation is included in the state vector together with the bias of the aiding system sensors. Moreover, in addition to the in-line procedure of sensor bias compensation, the measurement noise covariance matrix is adapted, to guard against the effects which body motion and temporary magnetic disturbance may have on the reliability of measurements of gravity and earth's magnetic field, respectively. By computer simulations and experimental validation with human hand orientation motion signals, improvements in the accuracy of orientation estimates are demonstrated for the proposed EKF, as compared with filter implementations where either the in-line calibration procedure, the adaptive mechanism for weighting the measurements of the aiding system sensors, or both are not implemented.
机译：在本文中，开发了一种基于四元数的扩展卡尔曼滤波器（EKF），用于从传感器的输出确定刚体的方向，传感器的输出配置为三轴陀螺仪和使用三轴陀螺仪机械化的辅助系统的集成。轴加速度计和三轴磁力计。所建议的应用是用于人类运动领域的研究。在提出的EKF中，与身体旋转相关的四元数与辅助系统传感器的偏置一起包含在状态向量中。此外，除了传感器偏差补偿的在线过程外，还适用于测量噪声协方差矩阵，以防止人体运动和暂时的电磁干扰分别对重力和地球磁场的测量可靠性产生影响。 。通过计算机仿真和人类手部定向运动信号的实验验证，与采用在线校准程序，对测量值进行加权的自适应机制的滤波器实施方案相比，拟议的EKF可以提高定向估计精度。辅助系统传感器，或两者均未实现。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号