Quaternion-based orientation estimation with static error reduction

Eun Ho Seo, Chan Soo Park, Doik Kim, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Tracking the orientation or attitude of an object has many applications in various research fields. This paper presents a tracking system which estimates the orientation of an object using an angular rate sensor, accelerometer, and magnetometer. For the combined usage of the sensors, the Kalman filter and the Factored Quaternion Algorithm (FQA) are applied to the proposed system. We also propose a method to eliminate the drift effect of the angular rate sensor in static state. The experimental results show that the proposed tracking system can estimate an accurate rotation of an object and can eliminate the drift effect in static state.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages1624-1629
Number of pages6
DOIs
Publication statusPublished - 2011 Nov 17
Event2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China
Duration: 2011 Aug 72011 Aug 10

Other

Other2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
CountryChina
CityBeijing
Period11/8/711/8/10

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Seo, E. H., Park, C. S., Kim, D., & Song, J-B. (2011). Quaternion-based orientation estimation with static error reduction. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 1624-1629). [5985957] https://doi.org/10.1109/ICMA.2011.5985957