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

S. Sessa, M. Zecca, Z. Lin, L. Bartolomeo, K. Itoh, Hiroyuki Ishii, Y. Mukaeda, Y. Suzuki, Atsuo 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
    Event2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin
    Duration: 2010 Dec 142010 Dec 18

    Other

    Other2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
    CityTianjin
    Period10/12/1410/12/18

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    ASJC Scopus subject areas

    • Artificial Intelligence
    • Biotechnology
    • Human-Computer Interaction

    Cite this

    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] https://doi.org/10.1109/ROBIO.2010.5723462