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Attitude Estimation Algorithm of Portable Mobile Robot Based on Complementary Filter
In robot inertial navigation systems, to deal with the problems of drift and noise in the gyroscope and accelerometer and the high computational cost when using extended Kalman filter (EKF) and particle filter (PF), a complementary filtering algorithm is utilized. By combining the Inertial Measureme...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8623241/ https://www.ncbi.nlm.nih.gov/pubmed/34832785 http://dx.doi.org/10.3390/mi12111373 |
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author | Liu, Mei Cai, Yuanli Zhang, Lihao Wang, Yiqun |
author_facet | Liu, Mei Cai, Yuanli Zhang, Lihao Wang, Yiqun |
author_sort | Liu, Mei |
collection | PubMed |
description | In robot inertial navigation systems, to deal with the problems of drift and noise in the gyroscope and accelerometer and the high computational cost when using extended Kalman filter (EKF) and particle filter (PF), a complementary filtering algorithm is utilized. By combining the Inertial Measurement Unit (IMU) multi-sensor signals, the attitude data are corrected, and the high-precision attitude angles are obtained. In this paper, the quaternion algorithm is used to describe the attitude motion, and the process of attitude estimation is analyzed in detail. Moreover, the models of the sensor and system are given. Ultimately, the attitude angles are estimated by using the quaternion extended Kalman filter, linear complementary filter, and Mahony complementary filter, respectively. The experimental results show that the Mahony complementary filtering algorithm has less computational cost than the extended Kalman filtering algorithm, while the attitude estimation accuracy of these two algorithms is similar, which reveals that Mahony complementary filtering is more suitable for low-cost embedded systems. |
format | Online Article Text |
id | pubmed-8623241 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-86232412021-11-27 Attitude Estimation Algorithm of Portable Mobile Robot Based on Complementary Filter Liu, Mei Cai, Yuanli Zhang, Lihao Wang, Yiqun Micromachines (Basel) Article In robot inertial navigation systems, to deal with the problems of drift and noise in the gyroscope and accelerometer and the high computational cost when using extended Kalman filter (EKF) and particle filter (PF), a complementary filtering algorithm is utilized. By combining the Inertial Measurement Unit (IMU) multi-sensor signals, the attitude data are corrected, and the high-precision attitude angles are obtained. In this paper, the quaternion algorithm is used to describe the attitude motion, and the process of attitude estimation is analyzed in detail. Moreover, the models of the sensor and system are given. Ultimately, the attitude angles are estimated by using the quaternion extended Kalman filter, linear complementary filter, and Mahony complementary filter, respectively. The experimental results show that the Mahony complementary filtering algorithm has less computational cost than the extended Kalman filtering algorithm, while the attitude estimation accuracy of these two algorithms is similar, which reveals that Mahony complementary filtering is more suitable for low-cost embedded systems. MDPI 2021-11-08 /pmc/articles/PMC8623241/ /pubmed/34832785 http://dx.doi.org/10.3390/mi12111373 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/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 (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Liu, Mei Cai, Yuanli Zhang, Lihao Wang, Yiqun Attitude Estimation Algorithm of Portable Mobile Robot Based on Complementary Filter |
title | Attitude Estimation Algorithm of Portable Mobile Robot Based on Complementary Filter |
title_full | Attitude Estimation Algorithm of Portable Mobile Robot Based on Complementary Filter |
title_fullStr | Attitude Estimation Algorithm of Portable Mobile Robot Based on Complementary Filter |
title_full_unstemmed | Attitude Estimation Algorithm of Portable Mobile Robot Based on Complementary Filter |
title_short | Attitude Estimation Algorithm of Portable Mobile Robot Based on Complementary Filter |
title_sort | attitude estimation algorithm of portable mobile robot based on complementary filter |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8623241/ https://www.ncbi.nlm.nih.gov/pubmed/34832785 http://dx.doi.org/10.3390/mi12111373 |
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