Cargando…
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...
Autores principales: | , |
---|---|
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 |
_version_ | 1783568501427929088 |
---|---|
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. |
format | Online Article Text |
id | pubmed-7411976 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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 |
work_keys_str_mv | AT farhangianfarzan accuracyimprovementofattitudedeterminationsystemsusingekfbasederrorpredictionfilterandpicontroller AT landryrene accuracyimprovementofattitudedeterminationsystemsusingekfbasederrorpredictionfilterandpicontroller |