An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors.pdfVIP

Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems Maui, Hawaii, USA, Oct. 29 - Nov. 03, 2001 An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors 1 2 João Luís Marins , Xiaoping Yun , Eric R. Bachmann, Robert B. McGhee, and Michael J. Zyda Naval Postgraduate School Monterey, CA 93943 Abstract: This paper presents an extended Kalman Mechanical trackers can be placed in two separate filter for real-time estimation of rigid body orientation categories. Body-based systems utilize an exoskeleton using the newly developed MARG (Magnetic, Angular that is attached to the articulated structure to be tracked. Rate, and Gravity) sensors. Each MARG sensor Goniometers within the skeletal linkages measure joint contains a three-axis magnetometer, a three-axis angles. Ground-based systems attach one end of a angular rate sensor, and a three-axis accelerometer. The boom or shaft to an object to be tracked and typically filter represents rotations using quaternions rather than have six degrees of freedom [1]. Euler angles, which eliminates the long-standing Active magnetic tracking systems determine both problem of singularities associated with attitude position and orientation by using small sensors estimation. A process model for rigid body angular mounted on a rigid body to sense a set of gener