TY - GEN
T1 - Quaternion-based orientation estimation with static error reduction
AU - Seo, Eun Ho
AU - Park, Chan Soo
AU - Kim, Doik
AU - Song, Jae Bok
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=81055149835&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2011.5985957
DO - 10.1109/ICMA.2011.5985957
M3 - Conference contribution
AN - SCOPUS:81055149835
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 1624
EP - 1629
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -