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

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 Dec 1
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
CountryChina
CityTianjin
Period10/12/1410/12/18

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biotechnology
  • Human-Computer Interaction

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    Sessa, S., Zecca, M., Lin, Z., Bartolomeo, L., Itoh, K., Ishii, H., Mukaeda, Y., Suzuki, Y., & Takanishi, A. (2010). Ultra-miniaturized WB-3 Inertial Measurement Unit: Performance evaluation of the attitude estimation. In 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 (pp. 998-1003). [5723462] (2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010). https://doi.org/10.1109/ROBIO.2010.5723462