ArticleSensors (Basel, Switzerland)2020
Fast AHRS Filter for Accelerometer, Magnetometer, and Gyroscope Combination with Separated Sensor Corrections.
Article in Sensors (Basel, Switzerland), 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
What it found
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Who cites it
7 citing papers in PubMed.
- The Influence of Temporal Disturbances in EKF Calculations on the Achieved Parameters of Flight Control and Stabilization of UAVs.Sensors (Basel, Switzerland) · 2024Article
- A convenient approach for knee kinematics assessment using wearable inertial sensors during home-based rehabilitation: Validation with an optoelectronic system.Scientific African · 2023Article
- Research on Gradient-Descent Extended Kalman Attitude Estimation Method for Low-Cost MARG.Micromachines · 2022Article
- Shape Sensing of Hyper-Redundant Robots Using an AHRS IMU Sensor Network.Sensors (Basel, Switzerland) · 2022Article
- Extension of the Rigid-Constraint Method for the Heuristic Suboptimal Parameter Tuning to Ten Sensor Fusion Algorithms Using Inertial and Magnetic Sensing.Sensors (Basel, Switzerland) · 2021Article
- A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators.Sensors (Basel, Switzerland) · 2020Article
- Innovative Head-Mounted System Based on Inertial Sensors and Magnetometer for Detecting Falling Movements.Sensors (Basel, Switzerland) · 2020Article
Corrections and comments
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Authors and funding
3 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
A new predictor-corrector filter for attitude and heading reference systems (AHRS) using data from an orthogonal sensor combination of three accelerometers, three magnetometers and three gyroscopes is proposed. The filter uses the predictor-corrector structure, with prediction based on gyroscopes and independent correction steps for acceleration and magnetic field sensors. We propose two variants of the filter: (i) one using mathematical operations of special orthogonal group SO(3), that are accurate for nonlinear operations, for highest possible accuracy, and (ii) one using linearization of nonlinear operations for fast evaluation. Both approaches are quaternion-based filter realizations without redundant steps. The filters are compared to state of the art methods in this field on data recorded using low-cost microelectromechanical systems (MEMS) sensors with ground truth measured by the VICON optical system. Both filters achieved better accuracy than conventional methods at lower computational cost. The recorded data with ground truth reference and the source codes of both filters are publicly available.
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Registered trials
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