Gyro Drift Correction for An Indirect Kalman Filter Based Sensor Fusion Driver
AbstractSensor fusion techniques have made a significant contribution to the success of the recently emerging mobile applications era because a variety of mobile applications operate based on multi-sensing information from the surrounding environment, such as navigation systems, fitness trackers, interactive virtual reality games, etc. For these applications, the accuracy of sensing information plays an important role to improve the user experience (UX) quality, especially with gyroscopes and accelerometers. Therefore, in this paper, we proposed a novel mechanism to resolve the gyro drift problem, which negatively affects the accuracy of orientation computations in the indirect Kalman filter based sensor fusion. Our mechanism focuses on addressing the issues of external feedback loops and non-gyro error elements contained in the state vectors of an indirect Kalman filter. Moreover, the mechanism is implemented in the device-driver layer, providing lower process latency and transparency capabilities for the upper applications. These advances are relevant to millions of legacy applications since utilizing our mechanism does not require the existing applications to be re-programmed. The experimental results show that the root mean square errors (RMSE) before and after applying our mechanism are significantly reduced from 6.3 × 10−1 to 5.3 × 10−7, respectively. View Full-Text
Scifeed alert for new publicationsNever miss any articles matching your research from any publisher
- Get alerts for new papers matching your research
- Find out the new papers from selected authors
- Updated daily for 49'000+ journals and 6000+ publishers
- Define your Scifeed now
Lee, C.-G.; Dao, N.-N.; Jang, S.; Kim, D.; Kim, Y.; Cho, S. Gyro Drift Correction for An Indirect Kalman Filter Based Sensor Fusion Driver. Sensors 2016, 16, 864.
Lee C-G, Dao N-N, Jang S, Kim D, Kim Y, Cho S. Gyro Drift Correction for An Indirect Kalman Filter Based Sensor Fusion Driver. Sensors. 2016; 16(6):864.Chicago/Turabian Style
Lee, Chan-Gun; Dao, Nhu-Ngoc; Jang, Seonmin; Kim, Deokhwan; Kim, Yonghun; Cho, Sungrae. 2016. "Gyro Drift Correction for An Indirect Kalman Filter Based Sensor Fusion Driver." Sensors 16, no. 6: 864.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.