Kalman filter-based yaw angle estimation by fusing inertial and magnetic sensing: a case study using low cost sensors

• Type: Article in International Scientific Journal
• Date: 2015

Authors

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

Journal

Title: Sensor Review

Vol. 35

Pages: 244-250

ISSN: 0260-2288

Publisher: Emerald

Indexing

ISI Web of Knowledge - 7 Citations

Scopus - 10 Citations

Other information

Authenticus ID: P-00G-B43

DOI: 10.1108/sr-10-2014-0723

Abstract (EN): Purpose - The purpose of this paper is to achieve reliable estimation of yaw angles by fusing data from low-cost inertial and magnetic sensing. Design/methodology/approach - In this paper, yaw angle is estimated by fusing inertial and magnetic sensing from a digital compass and a gyroscope, respectively. A Kalman filter estimates the error produced by the gyroscope. Findings - Drift effect produced by the gyroscope is significantly reduced and, at the same time, the system has the ability to react quickly to orientation changes. The system combines the best of each sensor, the stability of the magnetic sensor and the fast response of the inertial sensor. Research limitations/implications - The system does not present a stable behavior in the presence of large vibrations. Considerable calibration efforts are needed. Practical implications - Today, most of human-robot interaction technologies need to have the ability to estimate orientation, especially yaw angle, from small-sized and low-cost sensors. Originality/value - Existing methods for inertial and magnetic sensor fusion are combined to achieve reliable estimation of yaw angle. Experimental tests in a human-robot interaction scenario show the performance of the system.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7