Next Article in Journal
A New First Break Picking for Three-Component VSP Data Using Gesture Sensor and Polarization Analysis
Previous Article in Journal
Enabling Large-Scale IoT-Based Services through Elastic Publish/Subscribe
 
Search for Articles:
Title / Keyword
Author / Affiliation
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
Journals
Sensors
Volume 17
Issue 9
10.3390/s17092146
sensors-logo
Submit to this Journal Review for this Journal Edit a Special Issue
► Article Menu

Article Menu

share announcement question_answer thumb_up
...
textsms
...
Correction published on 3 November 2017, see Sensors 2017, 17(11), 2530.
Article

A New Quaternion-Based Kalman Filter for Real-Time Attitude Estimation Using the Two-Step Geometrically-Intuitive Correction Algorithm

by
Kaiqiang Feng
1,2,
Jie Li
1,2,*,
Xiaoming Zhang
1,2,
Chong Shen
1,2,
Yu Bi
1,2,
Tao Zheng
1,2 and
Jun Liu
1,2
1
Key Laboratory of instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, China
2
National Key Laboratory for Electronic Measurement Technology, North University of China, Taiyuan 030051, China
*
Author to whom correspondence should be addressed.
Sensors 2017, 17(9), 2146; https://doi.org/10.3390/s17092146
Received: 9 August 2017 / Revised: 6 September 2017 / Accepted: 11 September 2017 / Published: 19 September 2017
(This article belongs to the Section Physical Sensors)
View Full-Text Download PDF
Browse Figures

Abstract

In order to reduce the computational complexity, and improve the pitch/roll estimation accuracy of the low-cost attitude heading reference system (AHRS) under conditions of magnetic-distortion, a novel linear Kalman filter, suitable for nonlinear attitude estimation, is proposed in this paper. The new algorithm is the combination of two-step geometrically-intuitive correction (TGIC) and the Kalman filter. In the proposed algorithm, the sequential two-step geometrically-intuitive correction scheme is used to make the current estimation of pitch/roll immune to magnetic distortion. Meanwhile, the TGIC produces a computed quaternion input for the Kalman filter, which avoids the linearization error of measurement equations and reduces the computational complexity. Several experiments have been carried out to validate the performance of the filter design. The results demonstrate that the mean time consumption and the root mean square error (RMSE) of pitch/roll estimation under magnetic disturbances are reduced by 45.9% and 33.8%, respectively, when compared with a standard filter. In addition, the proposed filter is applicable for attitude estimation under various dynamic conditions. View Full-Text
Keywords: AHRS; attitude estimation; magnetic distortion; two-step geometrically intuitive correction (TGIC); Kalman filter AHRS; attitude estimation; magnetic distortion; two-step geometrically intuitive correction (TGIC); Kalman filter
►▼ Show Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
SciFeed

Share and Cite

MDPI and ACS Style

Feng, K.; Li, J.; Zhang, X.; Shen, C.; Bi, Y.; Zheng, T.; Liu, J. A New Quaternion-Based Kalman Filter for Real-Time Attitude Estimation Using the Two-Step Geometrically-Intuitive Correction Algorithm. Sensors 2017, 17, 2146. https://doi.org/10.3390/s17092146

AMA Style

Feng K, Li J, Zhang X, Shen C, Bi Y, Zheng T, Liu J. A New Quaternion-Based Kalman Filter for Real-Time Attitude Estimation Using the Two-Step Geometrically-Intuitive Correction Algorithm. Sensors. 2017; 17(9):2146. https://doi.org/10.3390/s17092146

Chicago/Turabian Style

Feng, Kaiqiang, Jie Li, Xiaoming Zhang, Chong Shen, Yu Bi, Tao Zheng, and Jun Liu. 2017. "A New Quaternion-Based Kalman Filter for Real-Time Attitude Estimation Using the Two-Step Geometrically-Intuitive Correction Algorithm" Sensors 17, no. 9: 2146. https://doi.org/10.3390/s17092146

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Metrics

Article Access Map by Country/Region

1
Back to TopTop