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

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...

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Detalles Bibliográficos
Autores principales: Farhangian, Farzan, Landry, Rene
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7411976/
https://www.ncbi.nlm.nih.gov/pubmed/32708229
http://dx.doi.org/10.3390/s20144055
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author Farhangian, Farzan
Landry, Rene
author_facet Farhangian, Farzan
Landry, Rene
author_sort Farhangian, Farzan
collection PubMed
description 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.
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spelling pubmed-74119762020-08-25 Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller Farhangian, Farzan Landry, Rene Sensors (Basel) Article 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. MDPI 2020-07-21 /pmc/articles/PMC7411976/ /pubmed/32708229 http://dx.doi.org/10.3390/s20144055 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Farhangian, Farzan
Landry, Rene
Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller
title Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller
title_full Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller
title_fullStr Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller
title_full_unstemmed Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller
title_short Accuracy Improvement of Attitude Determination Systems Using EKF-Based Error Prediction Filter and PI Controller
title_sort accuracy improvement of attitude determination systems using ekf-based error prediction filter and pi controller
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7411976/
https://www.ncbi.nlm.nih.gov/pubmed/32708229
http://dx.doi.org/10.3390/s20144055
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