Kalman Filter-Based Yaw Angle Estimation by Fusing Inertial and Magnetic Sensing

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Neto, P (Author) Other; Mendes, N (Author) Other; António Paulo Moreira (Author) FEUP

Conference proceedings International

Title: Lecture Notes in Electrical Engineering

Pages: 679-688

11th Portuguese Conference on Automatic Control, CONTROLO 2014

Porto, 21 July 2014 through 23 July 2014

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 3 Citations

Other information

Authenticus ID: P-009-TQH

DOI: 10.1007/978-3-319-10380-8_65

Abstract (EN): Orientation estimation plays a crucial role in robotics. Precise and reliable estimation of orientation, and the yaw angle in particular, is still a challenge and subject of great concern among researchers. This paper presents the development of a platform for yaw angle estimation by fusing inertial and magnetic sensing (a low-cost multi-sensorial system composed by both a digital compass and a gyroscope). A Kalman filter is used to estimate the error produced by the gyroscope. Experimental results indicate that the proposed solution is able to eliminate the drift effect produced by gyroscope data and, at the same time, has the capacity to react to fast orientation changes.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10