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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2015

Autores

Neto, P (Autor) Outra; Mendes, N (Autor) Outra; António Paulo Moreira (Autor) FEUP

Ata de Conferência Internacional

Título: Lecture Notes in Electrical Engineering

Páginas: 679-688

11th Portuguese Conference on Automatic Control, CONTROLO 2014

Porto, 21 July 2014 through 23 July 2014

Indexação

ISI Web of Knowledge - 2 Citações

Scopus - 3 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 10