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.
Permanent link: http://hdl.handle.net/10197/3862
Date: 28-Oct-2011
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: Accelerometers;Accuracy;Biomedical measurements;Estimation;Gyroscopes;Kalman filters;Vectors
Subject LCSH: Kalman filtering
Accelerometers
Gyroscopes
Biosensors
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
Appears in Collections:Computer Science Research Collection

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