About: Complementary Filtering Approach to Orientation Estimation using Inertial Sensors Only

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	Precise and reliable estimation of orientation plays crucial role for any mobile robot operating in unknown environment. The most common solution to determination of the three orientation angles: pitch, roll, and yaw, relies on the Attitude and Heading Reference System (AHRS) that exploits inertial data fusion (accelerations and angular rates) with magnetic measurements. However, in real world applications strong vibration and disturbances in magnetic field usually cause this approach to provide poor results. Therefore, we have devised a new approach to orientation estimation using inertial sensors only. It is based on modified complementary filtering and was proved by precise laboratory testing using rotational tilt platform as well as by robot field-testing. In the final, the algorithm well outperformed the commercial AHRS solution based on magnetometer aiding. Precise and reliable estimation of orientation plays crucial role for any mobile robot operating in unknown environment. The most common solution to determination of the three orientation angles: pitch, roll, and yaw, relies on the Attitude and Heading Reference System (AHRS) that exploits inertial data fusion (accelerations and angular rates) with magnetic measurements. However, in real world applications strong vibration and disturbances in magnetic field usually cause this approach to provide poor results. Therefore, we have devised a new approach to orientation estimation using inertial sensors only. It is based on modified complementary filtering and was proved by precise laboratory testing using rotational tilt platform as well as by robot field-testing. In the final, the algorithm well outperformed the commercial AHRS solution based on magnetometer aiding. (en)
Title	Complementary Filtering Approach to Orientation Estimation using Inertial Sensors Only Complementary Filtering Approach to Orientation Estimation using Inertial Sensors Only (en)
skos:prefLabel	Complementary Filtering Approach to Orientation Estimation using Inertial Sensors Only Complementary Filtering Approach to Orientation Estimation using Inertial Sensors Only (en)
skos:notation	RIV/68407700:21230/12:00200543!RIV13-MSM-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(7E10044)
http://linked.open...vai/riv/dodaniDat	2013
http://linked.open...aciTvurceVysledku	Reinštein, Michal Kubelka, Vladimír
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	128153
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/12:00200543
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Estimation; IIR filters; Low pass filters; Position measurement; Sensors, Vibrations (en)
http://linked.open.../riv/klicoveSlovo	Estimation IIR filters Sensors Vibrations Low pass filters Position measurement
http://linked.open...ontrolniKodProRIV	[DC80CC1B8014]
http://linked.open...v/mistoKonaniAkce	St. Paul, Minnesota
http://linked.open...i/riv/mistoVydani	New York
http://linked.open...i/riv/nazevZdroje	ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...vavai/riv/projekt	Natural human-robot cooperation in dynamic environments
http://linked.open...UplatneniVysledku	2012
http://linked.open...iv/tvurceVysledku	Reinštein, Michal Kubelka, Vladimír
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open...ain/vavai/riv/wos	000309406700089
http://linked.open.../riv/zahajeniAkce	2012-05-14 (xsd:date)
number of pages	7 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/ICRA.2012.6224564
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-1-4673-1405-3
http://localhost/t...ganizacniJednotka	21230

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