A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors

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  • Additional Information
    • Publication Information:
      USA: IEEE
    • Publication Date:
      2019
    • Abstract:
      We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This correction is computed, at each time instance, using a single gradient descent step with fixed step length. This fixed step length results in robustness against model errors, e.g., caused by large accelerations or by short-term magnetic field disturbances, which we numerically illustrate using Monte Carlo simulations. Our algorithm estimates a three-dimensional update to the orientation rather than the entire orientation itself. This reduces the computational complexity by approximately 1/3 with respect to the state of the art. It also improves the quality of the resulting estimates, specifically when the orientation corrections are large. We illustrate the efficacy of the algorithm using experimental data.
    • Author Affiliations:
      Delft Center for Systems and Control, Delft University of Technology, Delft, the Netherlands
      Department of Information Technology, Uppsala University, Uppsala, Sweden
    • ISSN:
      1070-9908
      1558-2361
    • Accession Number:
      10.1109/LSP.2019.2943995
    • Rights:
      Copyright 1994-2012, IEEE
    • AMSID:
      8850021
    • Date of Current Version:
      2019
    • Document Subtype:
      IEEE Letter
    • Sponsored by:
      IEEE Signal Processing Society
    • Accession Number:
      edseee.8850021
  • Citations
    • ABNT:
      KOK, M.; SCHON, T. B. A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors. IEEE Signal Processing Letters, Signal Processing Letters, IEEE, IEEE Signal Process. Lett, [s. l.], v. 26, n. 11, p. 1673–1677, 2019. DOI 10.1109/LSP.2019.2943995. Disponível em: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.8850021&custid=s8280428. Acesso em: 14 dez. 2019.
    • AMA:
      Kok M, Schon TB. A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors. IEEE Signal Processing Letters, Signal Processing Letters, IEEE, IEEE Signal Process Lett. 2019;26(11):1673-1677. doi:10.1109/LSP.2019.2943995.
    • APA:
      Kok, M., & Schon, T. B. (2019). A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors. IEEE Signal Processing Letters, Signal Processing Letters, IEEE, IEEE Signal Process. Lett, 26(11), 1673–1677. https://doi.org/10.1109/LSP.2019.2943995
    • Chicago/Turabian: Author-Date:
      Kok, M., and T.B. Schon. 2019. “A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors.” IEEE Signal Processing Letters, Signal Processing Letters, IEEE, IEEE Signal Process. Lett 26 (11): 1673–77. doi:10.1109/LSP.2019.2943995.
    • Harvard:
      Kok, M. and Schon, T. B. (2019) ‘A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors’, IEEE Signal Processing Letters, Signal Processing Letters, IEEE, IEEE Signal Process. Lett, 26(11), pp. 1673–1677. doi: 10.1109/LSP.2019.2943995.
    • Harvard: Australian:
      Kok, M & Schon, TB 2019, ‘A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors’, IEEE Signal Processing Letters, Signal Processing Letters, IEEE, IEEE Signal Process. Lett, vol. 26, no. 11, pp. 1673–1677, viewed 14 December 2019, .
    • MLA:
      Kok, M., and T. B. Schon. “A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors.” IEEE Signal Processing Letters, Signal Processing Letters, IEEE, IEEE Signal Process. Lett, vol. 26, no. 11, Nov. 2019, pp. 1673–1677. EBSCOhost, doi:10.1109/LSP.2019.2943995.
    • Chicago/Turabian: Humanities:
      Kok, M., and T.B. Schon. “A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors.” IEEE Signal Processing Letters, Signal Processing Letters, IEEE, IEEE Signal Process. Lett 26, no. 11 (November 1, 2019): 1673–77. doi:10.1109/LSP.2019.2943995.
    • Vancouver/ICMJE:
      Kok M, Schon TB. A Fast and Robust Algorithm for Orientation Estimation Using Inertial Sensors. IEEE Signal Processing Letters, Signal Processing Letters, IEEE, IEEE Signal Process Lett [Internet]. 2019 Nov 1 [cited 2019 Dec 14];26(11):1673–7. Available from: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.8850021&custid=s8280428