Ultra-miniaturized WB-3 Inertial Measurement Unit: Performance evaluation of the attitude estimation

S. Sessa*, M. Zecca, Z. Lin, L. Bartolomeo, K. Itoh, H. Ishii, Y. Mukaeda, Y. Suzuki, A. Takanishi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents the comparison of the WB-3 ultra-miniaturized inertial measurement unit (EMU), developed by our group, with the commercial EMU IntertiaCube by InterSense and the Vicon motion capture system. WB-3 is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). We implemented an Extended Kalman Filter (EKF) based on quaternion for the sensor fusion to retrieve the attitude. A new methodology for the automatic estimation of the measurement covariance matrix on the EKF is presented (R-Adaptive Algorithm). The preliminary results showed that WB-3 performance is comparable with Vicon. The R-Adaptive Algorithm improves the attitude reconstruction in case of non-static condition compared with the commercial IMU.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages998-1003
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China
Duration: 2010 Dec 142010 Dec 18

Publication series

Name2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Conference

Conference2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Country/TerritoryChina
CityTianjin
Period10/12/1410/12/18

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biotechnology
  • Human-Computer Interaction

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