Eliminating the Effect of Magnetic Disturbances on the Inclination Estimates of Inertial Sensors
Seel T, Ruppin S (2017)
Publication Type: Journal article
Publication year: 2017
Journal
Book Volume: 50
Pages Range: 8798-8803
Journal Issue: 1
DOI: 10.1016/j.ifacol.2017.08.1534
Abstract
Inertial measurement units (IMUs) are a promising tool for realtime analysis of human motion in many application domains. We consider the standard sensor fusion problem in IMU orientation estimation. We highlight the malicious effects that inhomogeneous magnetic fields, which are often found in indoor environments, can have on the inclination portions (roll and pitch) of the orientation estimate. We then propose a novel method that uses an analytical solution of the sensor fusion problem and purely horizontal magnetometer-based corrections. The method assures that magnetic field measurements affect only the heading (yaw) component of the orientation estimate. Furthermore, we parametrize the algorithm such that the user can choose the time constant and aggressiveness with which the algorithm balances between gyroscope drift compensation and rejection of disturbances caused by inhomogeneous magnetic fields or by velocity changes.
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Germany (DE)How to cite
APA:
Seel, T., & Ruppin, S. (2017). Eliminating the Effect of Magnetic Disturbances on the Inclination Estimates of Inertial Sensors. IFAC-PapersOnLine, 50(1), 8798-8803. https://doi.org/10.1016/j.ifacol.2017.08.1534
MLA:
Seel, Thomas, and Stefan Ruppin. "Eliminating the Effect of Magnetic Disturbances on the Inclination Estimates of Inertial Sensors." IFAC-PapersOnLine 50.1 (2017): 8798-8803.
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