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2005•Journal of Chinese Inertial TechnologyRequires access

Extended Kalman Filter for IMU Attitude Estimation Using Magnetometer, MEMS Accelerometer and Gyroscope

Yufeng Wang

Open publisher page 6 citations

Abstract

This paper presents an extended Kalman filter for IMU attitude estimation. The transition matrix of this filter uses equivalent rotation vector based on quaternions to calculate the attitude,which can avoid the singularity problem of Euler angles and suppress the noncommutativity error.The measurement quaternion is derived from accelerometer and magnetometer data using Gauss-Newton iteration algorithm. The data collected from the real sensor are utilized to test the filter, and results are presented and compared for using and without using the filter.

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What this paper is about

This paper presents an extended Kalman filter for IMU attitude estimation. The transition matrix of this filter uses equivalent rotation vector based on quaternions to calculate the attitude,which can avoid the singularity problem of Euler angles and suppress the noncommutativity error.The measurement quaternion is derived from accelerometer and magnetometer data using Gauss-Newton iteration algorithm. The data collected from the real sensor are utilized to test the filter, and results are presented and compared for using and without using the filter.

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OpenAlex reports 6 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

This paper presents an extended Kalman filter for IMU attitude estimation. The transition matrix of this filter uses equivalent rotation vector based on quaternions to calculate the attitude,which can avoid the singularity problem of Euler angles and suppress the noncommutativity error.The measurement quaternion is derived from accelerometer and magnetometer data using Gauss-Newton iteration algorithm. The data collected from the real sensor are utilized to test the filter, and results are presented and compared for using and without using the filter.

Key concepts: Quaternion, Gyroscope, Inertial measurement unit, Accelerometer, Kalman filter, Control theory (sociology), Euler angles, Magnetometer

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Extended Kalman Filter for IMU Attitude Estimation Using Magnetometer, MEMS Accelerometer and Gyroscope — Research Paper | ScholarLens