Accurate Orientation Estimation Using AHRS under Conditions of Magnetic Distortion

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dc.contributor.author Yadav, Nagesh
dc.contributor.author Bleakley, Chris J.
dc.date.accessioned 2015-09-23T08:31:10Z
dc.date.available 2015-09-23T08:31:10Z
dc.date.issued 2014-10-24
dc.identifier.citation Sensors en
dc.identifier.uri http://hdl.handle.net/10197/7081
dc.description.abstract Low cost, compact attitude heading reference systems (AHRS) are now being used to track human body movements in indoor environments by estimation of the 3D orientation of body segments. In many of these systems, heading estimation is achieved by monitoring the strength of the Earth’s magnetic field. However, the Earth’s magnetic field can be locally distorted due to the proximity of ferrous and/or magnetic objects. Herein, we propose a novel method for accurate 3D orientation estimation using an AHRS, comprised of an accelerometer, gyroscope and magnetometer, under conditions of magnetic field distortion. The system performs online detection and compensation for magnetic disturbances, due to, for example, the presence of ferrous objects. The magnetic distortions are detected by exploiting variations in magnetic dip angle, relative to the gravity vector, and in magnetic strength. We investigate and show the advantages of using both magnetic strength and magnetic dip angle for detecting the presence of magnetic distortions. The correction method is based on a particle filter, which performs the correction using an adaptive cost function and by adapting the variance during particle resampling, so as to place more emphasis on the results of dead reckoning of the gyroscope measurements and less on the magnetometer readings. The proposed method was tested in an indoor environment in the presence of various magnetic distortions and under various accelerations (up to 3 g). In the experiments, the proposed algorithm achieves <2° static peak-to-peak error and <5° dynamic peak-to-peak error, significantly outperforming previous methods. en
dc.language.iso en en
dc.publisher MDPI en
dc.subject AHRS en
dc.subject Particle filter en
dc.subject Data fusion en
dc.subject Inertial measurement units en
dc.subject Magnetic distortion en
dc.subject Motion capture en
dc.title Accurate Orientation Estimation Using AHRS under Conditions of Magnetic Distortion en
dc.type Journal Article en
dc.internal.authorcontactother chris.bleakley@ucd.ie
dc.internal.webversions http://www.mdpi.com/1424-8220/14/11/20008
dc.status Peer reviewed en
dc.identifier.volume 14 en
dc.identifier.issue 11 en
dc.identifier.startpage 20008 en
dc.identifier.endpage 20024 en
dc.identifier.doi 10.3390/s141120008
dc.neeo.contributor Yadav|Nagesh|aut|
dc.neeo.contributor Bleakley|Chris|aut|
dc.internal.rmsid 440316801
dc.date.updated 2015-09-04T15:44:34Z


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