A quaternion-based Attitude Estimate System Based on a Low Power Consumption Inertial Measurement Unit
Journal Title: EAI Endorsed Transactions on Energy Web - Year 2016, Vol 3, Issue 9
Abstract
Accurate and real-time tracking of the orientation or attitude of rigid bodies has traditional applications in robotics, aerospace, underwater vehicles, human body motion capture, etc. Towards human body motion capture, especially wearable devices, the use of a longer time has always been a challenge for several weeks or several months continuously, so a low-cost chip and a low computational cost algorithm are necessary .The paper presented a quaternion-based algorithm that integrated the sensor output with the Kalman filtering algorithm, and a low power consumption Inertial Measurement Unit (IMU) for the attitude estimation. The low power consumption IMU with an inner Digital Motion Processor(DMP) from InvenSense Inc. called MPU9150, which contains triaxial accelerometers, triaxial gyroscopes, triaxial magnetometers and inner DMP. Firstly, we got attitude quaternion from DMP, and used the factored quaternion algorithm (FQA) to calculate course angle quaternion component. Then the Kalman Filtering algorithm was used to mix them together to acquire the accurate and good real-time performance attitude .The experimental results showed that Kalman filtering algorithm to mix DMP output and magnetometers data have better performance than gradient descent algorithm and complementary filter algorithm even in static performance and dynamic performance and power consumption.
Authors and Affiliations
yunkun ning, liangju li, guoru zhao, Yingnan Ma, Xing Gao, Zongzhen Jin
Keywords
Related Articles
- EP ID EP45153
- DOI http://dx.doi.org/10.4108/eai.14-10-2015.2261661
- Views 257
- Downloads 0
Energy Efficient Duty Cycle Design based on Quantum Immune Clonal Evolutionary Algorithm in Body Area Networks
Duty cycle design is an important topic in body area networks. As small sensors are equipped with the limited power source, the extension of network lifetime is generally achieved by reducing the network energy consumpti...
Experience of application of network technologies in engineering education
Leading technical universities of Russia and Kazakhstan, preparing engineers in the field of mechatronics, robotics and automation, combined their intellectual and material resources within the International University n...
A comparative study based on the Genetic Algorithm (GA) method for the optimal sizing of the standalone photovoltaic system in the Ngoundiane site
We study a sizing method using Artificial Intelligence Techniques (AI) to find the optimal sizes of a standalone photovoltaic system in Ngoundiane, Senegal. The sizing of the PV system is considered here as a mono-object...
The training technologies by specialty «Automation and control» within the program «Synergy»
This program describes the experience over the ages and it was improved as the main goals of technology training used by specialty "Automation and Control" at the Department of Automation of Production Processes at the K...
Operational reliability as a resource for increasing the efficiency of electromechanical systems of rope shovels
In work the statistical research of operational reliability of the rope shovels working in the conditions of the Kuznetsk coal basin (Kuzbass) is executed. Indexes of reliability, distribution laws of time per fault and...