Two Stage Kalman Filtering for Position Estimation Using Dual Inertial Measurement Units
|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||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:||Accelerometers; Accuracy; Biomedical measurements; Estimation; Gyroscopes; Kalman filters; Vectors||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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