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Open AccessArticle

Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller

LASSENA Laboratory, Department of Electrical Engineering, Ecole de Technologie Superieure, Montreal, QC H3C 1K3, Canada
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Sensors 2020, 20(14), 4055; https://doi.org/10.3390/s20144055
Received: 4 June 2020 / Revised: 17 July 2020 / Accepted: 18 July 2020 / Published: 21 July 2020
(This article belongs to the Collection Positioning and Navigation)
Accurate attitude and heading reference system (AHRS) play an essential role in navigation applications and human body tracking systems. Using low-cost microelectromechanical system (MEMS) inertial sensors and having accurate orientation estimation, simultaneously, needs optimum orientation methods and algorithms. The error of attitude estimation may lead to imprecise navigation and motion capture results. This paper proposed a novel intermittent calibration technique for MEMS-based AHRS using error prediction and compensation filter. The method, inspired from the recognition of gyroscope’s error and by a proportional integral (PI) controller, can be regulated to increase the accuracy of the prediction. The experimentation of this study for the AHRS algorithm, aided by the proposed prediction filter, was tested with real low-cost MEMS sensors consists of accelerometer, gyroscope, and magnetometer. Eventually, the error compensation was performed by post-processing the measurements of static and dynamic tests. The experimental results present about 35% accuracy improvement in attitude estimation and demonstrate the explicit performance of proposed method. View Full-Text
Keywords: attitude and heading reference system; extended Kalman filter; inertial navigation; MEMS; inertial measurement unit; error prediction attitude and heading reference system; extended Kalman filter; inertial navigation; MEMS; inertial measurement unit; error prediction
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MDPI and ACS Style

Farhangian, F.; Landry, R., Jr. Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller. Sensors 2020, 20, 4055. https://doi.org/10.3390/s20144055

AMA Style

Farhangian F, Landry R Jr.. Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller. Sensors. 2020; 20(14):4055. https://doi.org/10.3390/s20144055

Chicago/Turabian Style

Farhangian, Farzan; Landry, Rene, Jr. 2020. "Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller" Sensors 20, no. 14: 4055. https://doi.org/10.3390/s20144055

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