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

*この研究の対応する著者

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
ページ998-1003
ページ数6
DOI
出版ステータスPublished - 2010
イベント2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China
継続期間: 2010 12 142010 12 18

出版物シリーズ

名前2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Conference

Conference2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
国/地域China
CityTianjin
Period10/12/1410/12/18

ASJC Scopus subject areas

  • 人工知能
  • バイオテクノロジー
  • 人間とコンピュータの相互作用

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