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Correction: A New Quaternion-Based Kalman Filter for Real-Time Attitude Estimation Using the Two-Step Geometrically-Intuitive Correction Algorithm. Sensors 2017, 17, 2146

Kaiqiang Feng, Jie Li, Xiaoming Zhang, Chong Shen, Yu Bi, Tao Zheng, Jun Liu
2017 Sensors  
The authors would like to apologize for any inconvenience caused to the readers by these changes. Conflicts of Interest: The authors declare no conflict of interest.  ...  In page 7, "The two-step correction process is described as follows:" should be revised as Xiao, J.Z. A linear kalman filter for marg orientation estimation using the algebraic quaternion algorithm.  ...  Quaternion-based complementary filter for attitude determination of a smartphone.IEEE Sens. J. 2016, 16, 6008-6017."  ... 
doi:10.3390/s17112530 pmid:29099751 pmcid:PMC5713620 fatcat:tjakbno6jzfohpgrrayqlcawey

A Kalman Filter for Nonlinear Attitude Estimation Using Time Variable Matrices and Quaternions

Álvaro Deibe, José Augusto Antón Nacimiento, Jesús Cardenal, Fernando López Peña
2020 Sensors  
The nonlinear problem of sensing the attitude of a solid body is solved by a novel implementation of the Kalman Filter.  ...  This implementation combines the use of quaternions to represent attitudes, time-varying matrices to model the dynamic behavior of the process and a particular state vector.  ...  Acknowledgments: We wish to acknowledge the support received from the Galician Research Center CITIC, funded by Xunta de Galicia and the European Union (European Regional Development Fund-Galicia 2014-  ... 
doi:10.3390/s20236731 pmid:33255620 fatcat:zpnrvuxznrcjldbajio3ymw4pu


Roney D. da Silva, Heloise Assis Fazzolari, Diego Paolo Ferruzzo Correa
2021 Brazilian Journal of Development  
The states estimation is computed with a fast algebraic quaternion algorithm (less than 1.8ms) using an additive linear Kalman Filter and model measurements.  ...  A estimativa de estados é calculada com um algoritmo de quaternion algébrico rápido (menos de 1,8ms) usando um filtro linear aditivo Kalman e medições de modelo.  ...  The estimation using algebraic quaternion does not require any optimization or iterative methods, providing a fast response in a relative simple project.  ... 
doi:10.34117/bjdv7n3-065 fatcat:iv2zhe75fjfhro3p2ntvydnmsi

Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs

Roberto Valenti, Ivan Dryanovski, Jizhong Xiao
2015 Sensors  
Orientation estimation using low cost sensors is an important task for Micro Aerial Vehicles (MAVs) in order to obtain a good feedback for the attitude controller.  ...  Our approach provides a quaternion estimation as the algebraic solution of a system from inertial/magnetic observations.  ...  Valenti and Ivan Dryanovski conceived the mathematical derivation of the presented approach and wrote the implementation of the algorithm; Roberto G.  ... 
doi:10.3390/s150819302 pmid:26258778 pmcid:PMC4570372 fatcat:y77ugzn465a4didxuyscf53yym

Quaternion-Based Robust Attitude Estimation Using an Adaptive Unscented Kalman Filter

Antônio C. B. Chiella, Bruno O. S. Teixeira, Guilherme A. S. Pereira
2019 Sensors  
This paper presents the Quaternion-based Robust Adaptive Unscented Kalman Filter (QRAUKF) for attitude estimation.  ...  Comparative experimental results that use an industrial manipulator robot as ground truth suggest that our method overcomes a trusted commercial solution and other widely used open source algorithms found  ...  Conclusions In this paper, a quaternion-based robust adaptive unscented Kalman filter for orientation estimation was presented.  ... 
doi:10.3390/s19102372 fatcat:v5lnytwlmrecva53snhnxi2q5e

Novel MARG-Sensor Orientation Estimation Algorithm Using Fast Kalman Filter

Siwen Guo, Jin Wu, Zuocai Wang, Jide Qian
2017 Journal of Sensors  
This paper proposes a new method in which a quaternion-based Kalman filter scheme is designed. The quaternion kinematic equation is employed as the process model.  ...  Orientation estimation from magnetic, angular rate, and gravity (MARG) sensor array is a key problem in mechatronic-related applications.  ...  In this subsection, we also evaluate the results from a recent representative Kalman filter, that is, the Algebraic QUAternion Kalman Filter (AQUA-KF) by Valenti et al. [25] .  ... 
doi:10.1155/2017/8542153 fatcat:6nfstcqflrdu7cxjcyo3lnzysi

Multi-Sensor Calibration of Low-Cost Magnetic, Angular Rate and Gravity Systems

Markus Lüken, Berno Misgeld, Daniel Rüschen, Steffen Leonhardt
2015 Sensors  
One 9DOF MARG sensor node is thereby used for calibration; the second 9DOF MARG sensor node is used for reference measurements.  ...  In addition, the calibration routine can be used in an alignment procedure to minimize errors in the orientation between the 9DOF MARG sensor system and a motion capture inertial reference system.  ...  Figure 4 . 4 Block diagram of the extended Kalman filter design (a) in conventional MARG orientation estimation and (b) with quaternion estimator (QUEST) preprocessing.  ... 
doi:10.3390/s151025919 pmid:26473873 pmcid:PMC4634514 fatcat:gpngxdhmr5bhzgnwfrwrzid6ii

Nonlinear Complementary Filter for Attitude Estimation by Fusing Inertial Sensors and A Camera

Lingxiao Zheng, Xingqun Zhan, Xin Zhang
2020 Sensors  
Using a standalone camera for pose estimation has been quite a standard task. However, the point correspondence-based algorithms require at least four feature points in the field of view.  ...  A quaternion-based discrete implementation of the filter is also given in this paper for computational efficiency.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s20236752 pmid:33255946 fatcat:se77nt7ne5axpdmc6oixhxi2lm

A Cascaded Pushing Displacement Estimation Approach for Hydraulic Powered Roof Support based on Multi-Segmental Kalman Filter

Lin Zhang, Shang Feng, Minzhou Luo, Aimin Ji
2019 Current Science  
A cascaded framework is constructed for pushing displacement estimation, and key technologies such as orientation estimation, segmental recognition and MS-KF implementation are demonstrated.  ...  The motion characteristics of pushing operation are re-considered, and multi-segmental Kalman filter (MS-KF) is proposed based on the motion characteristics.  ...  We thank all the reviewers for their constructive comments.  ... 
doi:10.18520/cs/v117/i10/1585-1597 fatcat:5lxelc3vc5g6rhw734lb3pmpyi

Experimental Comparison of Sensor Fusion Algorithms for Attitude Estimation

A. Cavallo, A. Cirillo, P. Cirillo, G. De Maria, P. Falco, C. Natale, S. Pirozzi
2014 IFAC Proceedings Volumes  
In particular, the algorithm based on the gradient descent method and the algorithm based on a nonlinear complementary filter are compared to a standard Extended Kalman Filter (EKF) with the aim to show  ...  Inertial Measurement Unit is commonly used in various applications especially as a low-cost system for localization and attitude estimation.  ...  Thus, the estimated orientation and the accuracy of the AHRS algorithms can be validated using the measured orientation.  ... 
doi:10.3182/20140824-6-za-1003.01173 fatcat:wqdqliiurrcmrjj2jo6l5bt7q4

Computationally Efficient Attitude Estimation with Extended ℋ_2 Filtering [article]

Sunsoo Kim, Vaishnav Tadiparthi, Raktim Bhattacharya
2020 arXiv   pre-print
Under this paradigm of sensor fusion, the Extended Kalman Filter (EKF) is the most popular algorithm for attitude estimation in UAVs.  ...  We formulate our attitude-estimation algorithm using unit quaternions.  ...  Next, we describe the conventional H 2 optimal attitude estimation algorithm. We elaborate upon our proposal for the extended H 2 attitude estimation algorithm using quaternions in section §V.  ... 
arXiv:2006.14385v2 fatcat:zrvmqbr47nfelo2qnkeh7qwjfy

Neural-adaptive Stochastic Attitude Filter on SO(3) [article]

Hashim A. Hashim, Mohammed Abouheaf, Kyriakos G. Vamvoudakis
2021 arXiv   pre-print
This paper proposes a novel stochastic nonlinear neural-adaptive-based filter on SO(3) for the attitude estimation problem.  ...  In addition, measurements supplied by low-cost sensing units pose a challenge for the estimation process.  ...  ACKNOWLEDGMENT The author would like to thank Maria Shaposhnikova for proofreading the article.  ... 
arXiv:2110.08889v2 fatcat:awknsuft5vcuba6pjyyrtvserq

Generalized Linear Quaternion Complementary Filter for Attitude Estimation From Multisensor Observations: An Optimization Approach

Jin Wu, Zebo Zhou, Hassen Fourati, Rui Li, Ming Liu
2019 IEEE Transactions on Automation Science and Engineering  
Focusing on generalized sensor combinations, this paper deals with attitude estimation problem using a linear complementary filter.  ...  The filter is named as the generalized complementary filter (GCF) where the observation model is simplified to its limit as a linear one that is quite different from previous-reported brute-force computation  ...  We genuinely thank them for their support.  ... 
doi:10.1109/tase.2018.2888908 fatcat:ce765qtabfbrzkvule34gwjkf4

Development of an innovative low-cost MARG sensors alignment and distortion compensation methodology for 3D scanning applications

D. Grivon, E. Vezzetti, Maria Grazia Violante
2013 Robotics and Autonomous Systems  
in order to obtain an accurate orientation estimation, but only a few address the problem of calibration and distortion compensation.  ...  attitude estimation algorithm processing raw data and compensated data.  ...  Filter [7, 8] or the Kalman Filter [9, 10] are the two most commonly used solutions that, although different in their theoretical foundations and implementation strategies, plan to use the orientation  ... 
doi:10.1016/j.robot.2013.06.003 fatcat:f2yycnf65zhjxbaizjf5g3bdky

Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation

Valérie Renaudin, Christophe Combettes
2014 Sensors  
A new Magnetic, Acceleration fields and GYroscope Quaternion (MAGYQ)-based attitude angles estimation filter is proposed and demonstrated with handheld sensors.  ...  Estimating accurate attitude angles for achieving long term positioning accuracy is targeted in this work.  ...  Quaternions are used as parameters for estimating the orientation of a rigid body [9, 16] .  ... 
doi:10.3390/s141222864 pmid:25474379 pmcid:PMC4299043 fatcat:zxqutwphiraj3kytmxhqyxudzy
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