Quaternion-Based Orientation Estimation with Static Error Reduction

Title
Quaternion-Based Orientation Estimation with Static Error Reduction
Authors
서은호박찬수김도익송재복
Keywords
Quaternion; orientation; estimation; static error
Issue Date
2011-08
Publisher
International Conference on Mechatronics and Automation (ICMA 2011)
Citation
, 1624-1629
Abstract
Tracking the orientation or attitude of an object has many applications in various research fields. This paper presents a tracking system which estimates the orientation of an object using an angular rate sensor, accelerometer, and magnetometer. For the combined usage of the sensors, the Kalman filter and the Factored Quaternion Algorithm (FQA) are applied to the proposed system. We also propose a method to eliminate the drift effect of the angular rate sensor in static state. The experimental results show that the proposed tracking system can estimate an accurate rotation of an object and can eliminate the drift effect in static state.
URI
http://pubs.kist.re.kr/handle/201004/40181
Appears in Collections:
KIST Publication > Conference Paper
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