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Session A3: Inertial Measurement Units

A Quaternion based Attitude Estimation Algorithm for Low Cost MEMS IMU
Mundla Narasimhappa and Arun D Mahindrakar, Indian Institute of Technology, India; Marco H Terra-University of Sao Paulo, (USP), Brazil; Samrat L Sabat, University of Hyderabad, India
Location: Big Sur
Alternate Number 3

Low-cost Micro Electro Mechanical System (MEMS) based Inertial Measurement Unit (IMU) is a core device to Attitude Heading Reference System (AHRS). In general, IMU comprising three axis accelerometers and gyroscopes, which can provide the position and attitude information of an object in mobile robotics, aeronautics, and navigation. In this paper, authors are proposed regularized robust Indirect Kalman filter (RRIKF) for estimating the attitude when MEMS IMU subject to uncertainties. Moreover, the quaternion is used for formulating a rigid body model and establishing the attitude model for the design of RRIKF algorithm. Simulation results revealed that the proposed method is superior than the existing methods, in terms of accuracy and efficiency.



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