Energy-aware Adaptive Attitude Estimation Under External Acceleration for Pedestrian Navigation

Aida Makni 1 Hassen Fourati 1 Alain Y. Kibangou 1
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : In this paper, we consider the problem of rigid bodyattitudeestimationunderexternalaccelerationusingasmallinertial/magneticsensors module containing a triad of gyroscope, accelerometer,andmagnetometer.Thepaperisfocusedontwomainchallenges. The first challenge concerns the attitude estimationduring dynamic case, in which external acceleration occurs. Thislatter leads to lose performance in attitude estimation methods. Aquaternion-based adaptive Kalman filter (q-AKF) compensatingexternal acceleration from the residual in the accelerometer isdesigned. At each step, the covariance matrix of the externalacceleration is estimated to tune the filter gain adaptively. Thesecond challenge is related to the energy consumption issue ofgyroscope. In order to ensure a longer battery life for the InertialMeasurement Units (IMUs), we study the way to reduce the gyromeasurements acquisition by switching on/off the sensor whilemaintaining an acceptable attitude estimation. A smart detectionapproach isproposed to decide whether the body is indynamic orstatic case. The efficiency of the q-AKF is demonstrated throughnumerical simulations and experimental tests.
Document type :
Journal articles
Complete list of metadatas

Cited literature [30 references]  Display  Hide  Download

https://hal.inria.fr/hal-01241403
Contributor : Hassen Fourati <>
Submitted on : Thursday, November 24, 2016 - 5:14:51 PM
Last modification on : Thursday, August 22, 2019 - 11:32:02 AM
Long-term archiving on : Tuesday, March 14, 2017 - 1:57:52 PM

File

MFK_final_version.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Aida Makni, Hassen Fourati, Alain Y. Kibangou. Energy-aware Adaptive Attitude Estimation Under External Acceleration for Pedestrian Navigation. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2016, 21 (3), pp.1366-1375. ⟨10.1109/TMECH.2015.2509783⟩. ⟨hal-01241403⟩

Share

Metrics

Record views

781

Files downloads

402