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  • 标题:Orientation Estimation by Means of Extended Kalman Filter, Quaternions, and Charts
  • 其他标题:Orientation Estimation by Means of Extended Kalman Filter, Quaternions, and Charts
  • 本地全文:下载
  • 作者:Pablo Bernal-Polo ; Humberto Martínez-Barberá
  • 期刊名称:Journal of Physical Agents
  • 印刷版ISSN:1888-0258
  • 出版年度:2017
  • 卷号:8
  • 期号:1
  • 页码:11-24
  • DOI:10.14198/JoPha.2017.8.1.03
  • 语种:English
  • 出版社:Red de Agentes Fisicos
  • 摘要:In this paper, an orientation estimation algorithm is presented. This algorithm is based on the Extended Kalman Filter, and uses quaternions as the orientation descriptor. For the filter update, measures from an inertial measurement unit (IMU) are used. The IMU consists in a triaxial angular rate sensor, and an also triaxial accelerometer.Quaternions describing orientations live in the unit sphere of R^4. Knowing that this space is a manifold, and applying some basic concepts regarding these mathematical objects, an algorithm that reminds the also called ''Multiplicative Extended Kalman Filter'' arises in a natural way.The algorithm is tested in a simulated experiment, and in a real one.
  • 关键词:Computer Science; robotics; estimation;Extended Kalman filter; Quaternions; Attitude; Pose; Orientation; Estimation; IMU; Manifold; Charts
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