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Fast AHRS Filter for Accelerometer, Magnetometer, and Gyroscope Combination with Separated Sensor Corrections

A new predictor–corrector filter for attitude and heading reference systems (AHRS) using data from an orthogonal sensor combination of three accelerometers, three magnetometers and three gyroscopes is proposed. The filter uses the predictor—corrector structure, with prediction based on gyroscopes an...

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Detalles Bibliográficos
Autores principales: Justa, Josef, Šmídl, Václav, Hamáček, Aleš
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7420292/
https://www.ncbi.nlm.nih.gov/pubmed/32659959
http://dx.doi.org/10.3390/s20143824
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author Justa, Josef
Šmídl, Václav
Hamáček, Aleš
author_facet Justa, Josef
Šmídl, Václav
Hamáček, Aleš
author_sort Justa, Josef
collection PubMed
description A new predictor–corrector filter for attitude and heading reference systems (AHRS) using data from an orthogonal sensor combination of three accelerometers, three magnetometers and three gyroscopes is proposed. The filter uses the predictor—corrector structure, with prediction based on gyroscopes and independent correction steps for acceleration and magnetic field sensors. We propose two variants of the filter: (i) one using mathematical operations of special orthogonal group SO(3), that are accurate for nonlinear operations, for highest possible accuracy, and (ii) one using linearization of nonlinear operations for fast evaluation. Both approaches are quaternion-based filter realizations without redundant steps. The filters are compared to state of the art methods in this field on data recorded using low-cost microelectromechanical systems (MEMS) sensors with ground truth measured by the VICON optical system. Both filters achieved better accuracy than conventional methods at lower computational cost. The recorded data with ground truth reference and the source codes of both filters are publicly available.
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spelling pubmed-74202922020-08-18 Fast AHRS Filter for Accelerometer, Magnetometer, and Gyroscope Combination with Separated Sensor Corrections Justa, Josef Šmídl, Václav Hamáček, Aleš Sensors (Basel) Article A new predictor–corrector filter for attitude and heading reference systems (AHRS) using data from an orthogonal sensor combination of three accelerometers, three magnetometers and three gyroscopes is proposed. The filter uses the predictor—corrector structure, with prediction based on gyroscopes and independent correction steps for acceleration and magnetic field sensors. We propose two variants of the filter: (i) one using mathematical operations of special orthogonal group SO(3), that are accurate for nonlinear operations, for highest possible accuracy, and (ii) one using linearization of nonlinear operations for fast evaluation. Both approaches are quaternion-based filter realizations without redundant steps. The filters are compared to state of the art methods in this field on data recorded using low-cost microelectromechanical systems (MEMS) sensors with ground truth measured by the VICON optical system. Both filters achieved better accuracy than conventional methods at lower computational cost. The recorded data with ground truth reference and the source codes of both filters are publicly available. MDPI 2020-07-09 /pmc/articles/PMC7420292/ /pubmed/32659959 http://dx.doi.org/10.3390/s20143824 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
Justa, Josef
Šmídl, Václav
Hamáček, Aleš
Fast AHRS Filter for Accelerometer, Magnetometer, and Gyroscope Combination with Separated Sensor Corrections
title Fast AHRS Filter for Accelerometer, Magnetometer, and Gyroscope Combination with Separated Sensor Corrections
title_full Fast AHRS Filter for Accelerometer, Magnetometer, and Gyroscope Combination with Separated Sensor Corrections
title_fullStr Fast AHRS Filter for Accelerometer, Magnetometer, and Gyroscope Combination with Separated Sensor Corrections
title_full_unstemmed Fast AHRS Filter for Accelerometer, Magnetometer, and Gyroscope Combination with Separated Sensor Corrections
title_short Fast AHRS Filter for Accelerometer, Magnetometer, and Gyroscope Combination with Separated Sensor Corrections
title_sort fast ahrs filter for accelerometer, magnetometer, and gyroscope combination with separated sensor corrections
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7420292/
https://www.ncbi.nlm.nih.gov/pubmed/32659959
http://dx.doi.org/10.3390/s20143824
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