Effect of Strapdown Integration Order and Sampling Rate on IMU-Based Attitude Estimation Accuracy

Sensors
Jung Keun Lee, Mi Jin Choi

Abstract

This paper deals with the strapdown integration of attitude estimation Kalman filter (KF) based on inertial measurement unit (IMU) signals. In many low-cost wearable IMU applications, a first-order is selected for strapdown integration, which may degrade attitude estimation performance in high-speed angular motions. The purpose of this research is to provide insights into the effect of the strapdown integration order and sampling rate on the attitude estimation accuracy for low-cost IMU applications. Experimental results showed that the effect of integration order was small when the angular velocity was low and the sampling rate was large. However, as the angular velocity increased and the sampling rate decreased, the effect of integration order increased, i.e., obviously, the third-order KF resulted in better estimations than the first-order KF. When comparing the case where both transient matrix and process noise covariance matrix are applied to the corresponding order and the case where only the transient matrix is applied to the corresponding order but the process noise covariance matrix for the first-order is still used, both cases had almost equivalent estimation accuracy. However, in terms of the calculation cost, the la...Continue Reading

References

Oct 5, 2005·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Daniel RoetenbergPeter H Veltink
May 29, 2009·IEEE Transactions on Bio-medical Engineering·Jung Keun Lee, Edward J Park
Sep 15, 2012·IEEE Transactions on Instrumentation and Measurement·Jung Keun LeeStephen N Robinovitch
Sep 25, 2014·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Jung Keun LeeEdward Park
Mar 17, 2015·IEEE Transactions on Bio-medical Engineering·Gabriele Ligorio, Angelo M Sabatini

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