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Kalman Filter for Estimation of Sensor Acceleration Using Six - axis Inertial Sensor
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6 축 관성센서를 이용한 센서가속도 추정용 칼만필터

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Type
Academic journal
Author
Jung Keun Lee (한경대학교)
Journal
The Korean Society of Mechanical Engineers Transactions of the Korean Society of Mechanical Engineers - A Vol.39 No.2 KCI Accredited Journals SCOPUS
Published
2015.2
Pages
179 - 185 (7page)

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Kalman Filter for Estimation of Sensor Acceleration Using Six - axis Inertial Sensor
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Although an accelerometer is a sensor that measures acceleration, it cannot be used by itself to measure the acceleration when the orientation of the sensor changes. This paper introduces a Kalman filter for the estimation of a sensor acceleration based on a six-axis inertial sensor (i.e., a three-axis accelerometer and three-axis gyroscope). The novelty of the proposed Kalman filter lies in the fact that its state vector includes not only the tilt angle variable but also the sensor acceleration. Thus, the filter can explicitly estimate the latter with a high accuracy. The accuracy of acceleration estimates were validated experimentally under three different dynamic conditions, using an optical motion capture system. It could be concluded that the performance of the proposed Kalman filter was comparable to that of the state-of-the-art estimation algorithm employed by the Xsens MTw. The proposed algorithm may be more suitable than inertial/magnetic sensor-based algorithms for various applications adopting six-axis inertial sensors.
#Kalman Filter(칼만필터) #Sensor Acceleration(센서 가속도) #Tilt Angle(틸트 각도) #Inertial Sensor(관성센서) #Accelerometer(가속도계) #Gyroscope(자이로스코프)

Contents

초록
Abstract
1. 서론
2. 추정 알고리즘 및 검증실험
3. 결과 및 고찰
4. 결론
참고문헌(References)

References (13)

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1. [학술지(정기간행물)] - Yubin Lu / 2013 / Performance evaluation of high g accelerometers / Journal of Mechanical Science and Technology 27 (11) : 3357 ~ 3362 Crossref 2. [학술지(정기간행물)] - 배공명 / 2014 / High-shock silicon accelerometer with suspended piezoresistive sensing bridges / Journal of Mechanical Science and Technology 28 (4) : 1449 ~ 1454 google schola 3. [학술지(정기간행물)] - Bong-Su Cho / 2011 / A dead reckoning localization system for mobile robots using inertial sensors and wheel revolution encoding / Journal of Mechanical Science and Technology 25 (11) : 2907 ~ 2917 google schola 4. [학술지(정기간행물)] - Jeong Hyun Moon / 2008 / Estimability Measures and Their Application to GPS/INS / Journal of Mechanical Science and Technology 22 (5) : 905 ~ 913 google schola 5. [학술대회논문] - Song, C.-M. / 2008 / Golf Swing Diagnosis Equipment Based on MEMS Inertial Sensors / Conference Proceedings of the Korean Society of Mechanical Engineers : 1761 ~ 1766 google schola

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