A sensor fusion algorithm for an integrated angular position estimation with inertial measurement units

S Sabatelli, F Sechi, L Fanucci, A Rocchi
2011 2011 Design, Automation & Test in Europe  
This work presents an orientation tracking system for 6D inertial measurements units. The system was modeled with MathWorks Simulink and experimentally tested with the Cube Demo board by SensorDynamics, used to simulate a 3D gyro and a 3D accelerometer. Quaternions were used to represent the angular position and an Extended Kalman filter was used for the sensor fusion algorithm. The goal was to obtain an integrated system that could be easily integrated within the logic of the new 6D sensor
more » ... ly produced by SensorDynamics. We propose a Kalman filter simplification for a fixed point arithmetic implementation to reduce the system complexity with negligible performance degradation.
doi:10.1109/date.2011.5763273 dblp:conf/date/SabatelliSFR11 fatcat:zpr4i3t24reshl5ei6t2bhjb3i