Eliminating the effect of magnetic disturbances on the inclination estimates of inertial sensors

verfasst von

Thomas Seel, Stefan Ruppin

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.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Artikel

Journal

IFAC-PapersOnLine

Band

50

Seiten

8798-8803

Anzahl der Seiten

6

ISSN

2405-8963

Publikationsdatum

07.2017

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik

Elektronische Version(en)

https://doi.org/10.1016/j.ifacol.2017.08.1534 (Zugang: Offen)