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 body attitudeestimationunderexternalaccelerationusingasmallinertial/magnetic sensors module containing a triad of gyroscope, accelerometer,andmagnetometer.Thepaperisfocusedontwomain challenges. The first challenge concerns the attitude estimation during dynamic case, in which external acceleration occurs. This latter leads to lose performance in attitude estimation methods. A quaternion-based adaptive Kalman filter (q-AKF) compensating external acceleration from the residual in the accelerometer is designed. At each step, the covariance matrix of the external acceleration is estimated to tune the filter gain adaptively. The second challenge is related to the energy consumption issue of gyroscope. In order to ensure a longer battery life for the Inertial Measurement Units (IMUs), we study the way to reduce the gyro measurements acquisition by switching on/off the sensor while maintaining an acceptable attitude estimation. A smart detection approach isproposed to decide whether the body is indynamic or static case. The efficiency of the q-AKF is demonstrated through numerical simulations and experimental tests.
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IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2016, <10.1109/TMECH.2015.2509783>
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Dernière modification le : mardi 20 décembre 2016 - 11:19:15
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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, <10.1109/TMECH.2015.2509783>. <hal-01241403>

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