Two Stage Kalman Filtering for Position Estimation Using Dual Inertial Measurement Units

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Title: Two Stage Kalman Filtering for Position Estimation Using Dual Inertial Measurement Units
Authors: Yadav, Nagesh
Bleakley, Chris J.
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Date: 28-Oct-2011
Online since: 2012-10-11T17:07:57Z
Abstract: Herein a two stage Kalman filter based algorithm is proposed for processing of Inertial Measurement Unit (IMU) data to obtain accurate position estimation over a short period of time. The proposed algorithm uses a novel sensor placement strategy on rigid body. An Extended Kalman filter algorithm incorporates these placement constraints to achieve accurate position estimation. The results show 30% improvement in position estimation as compared to a conventional Dead Reckoning (DR) approach. To the best of the authors' knowledge, the proposed technique is the first which employs spatially separated dual IMUs on a single rigid body for position estimation.
Funding Details: Science Foundation Ireland
Type of material: Conference Publication
Publisher: IEEE
Copyright (published version): 2011 IEEE
Keywords: AccelerometersAccuracyBiomedical measurementsEstimationGyroscopesKalman filtersVectors
Subject LCSH: Kalman filtering
DOI: 10.1109/ICSENS.2011.6127064
Language: en
Status of Item: Peer reviewed
Is part of: 2011 IEEE SENSORS Proceedings
Conference Details: IEEE Sensors 2011, Limerick, Ireland, 28-31 October, 2011
ISBN: 978-1-4244-9288-6
Appears in Collections:Computer Science Research Collection

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