Nonlinear Complementary Filter for Attitude Estimation by Fusing Inertial Sensors and a Camera
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China
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Sensors 2020, 20(23), 6752; https://doi.org/10.3390/s20236752
Received: 27 October 2020
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Revised: 13 November 2020
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Accepted: 19 November 2020
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Published: 26 November 2020
(This article belongs to the Section Physical Sensors)
Using a standalone camera for pose estimation has been quite a standard task. However, the point correspondence-based algorithms require at least four feature points in the field of view. This paper considers the situation that there are only two feature points. Focusing on the attitude estimation, we propose to fuse a camera with low-cost inertial sensors based on a nonlinear complementary filter design. An implicit geometry measurement model is derived using two feature points in an image. This geometry measurement is fused with the angle rate measurement and vector measurement from inertial sensors using the proposed nonlinear complementary filter with only two parameters to be adjusted. The proposed nonlinear complementary filter is posed directly on the special orthogonal group SO(3). Based on the theory of nonlinear system stability analysis, the proposed filter ensures locally asymptotic stability. A quaternion-based discrete implementation of the filter is also given in this paper for computational efficiency. The proposed algorithm is validated using a smartphone with built-in inertial sensors and a rear camera. The experimental results indicate that the proposed algorithm outperforms all the compared counterparts in estimated accuracy and provides competitive computational complexity.
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Keywords:
consumer electronics; attitude estimation; inertial sensors; camera; nonlinear complementary filter
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MDPI and ACS Style
Zheng, L.; Zhan, X.; Zhang, X. Nonlinear Complementary Filter for Attitude Estimation by Fusing Inertial Sensors and a Camera. Sensors 2020, 20, 6752. https://doi.org/10.3390/s20236752
AMA Style
Zheng L, Zhan X, Zhang X. Nonlinear Complementary Filter for Attitude Estimation by Fusing Inertial Sensors and a Camera. Sensors. 2020; 20(23):6752. https://doi.org/10.3390/s20236752
Chicago/Turabian StyleZheng, Lingxiao, Xingqun Zhan, and Xin Zhang. 2020. "Nonlinear Complementary Filter for Attitude Estimation by Fusing Inertial Sensors and a Camera" Sensors 20, no. 23: 6752. https://doi.org/10.3390/s20236752
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