Using inertial sensors for position and orientation estimation

DOI10.1561/2000000094MaRDI QIDQ5745306zbMATH OpenOpenAlexFDO

Authors Manon Kok, Jeroen D. Hol, Thomas B. Schön

Publication date 5 June 2018

Published in Foundations and Trends® in Signal Processing (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1704.06053

zbMATH Keywords

algorithmsextended Kalman filtertutorialinertial sensorscomplementary filter implementationsoptimization-based smoothing and filteringsignal processing aspects of position and orientation estimation

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Signal theory (characterization, reconstruction, filtering, etc.) (94A12) Estimation and detection in stochastic control theory (93E10)

Abstract: In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain position and orientation information. These estimates are accurate on a short time scale, but suffer from integration drift over longer time scales. To overcome this issue, inertial sensors are typically combined with additional sensors and models. In this tutorial we focus on the signal processing aspects of position and orientation estimation using inertial sensors. We discuss different modeling choices and a selected number of important algorithms. The algorithms include optimization-based smoothing and filtering as well as computationally cheaper extended Kalman filter and complementary filter implementations. The quality of their estimates is illustrated using both experimental and simulated data.

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