Justa Josef, Šmídl Václav, Hamáček Aleš
Department of Measurement and Technology, University of West Bohemia, 30100 Plzen, Czech Republic.
RICE, University of West Bohemia, 30100 Plzen, Czech Republic.
Sensors (Basel). 2020 Jul 9;20(14):3824. doi: 10.3390/s20143824.
A new predictor-corrector filter for attitude and heading reference systems (AHRS) using data from an orthogonal sensor combination of three accelerometers, three magnetometers and three gyroscopes is proposed. The filter uses the predictor-corrector structure, with prediction based on gyroscopes and independent correction steps for acceleration and magnetic field sensors. We propose two variants of the filter: (i) one using mathematical operations of special orthogonal group SO(3), that are accurate for nonlinear operations, for highest possible accuracy, and (ii) one using linearization of nonlinear operations for fast evaluation. Both approaches are quaternion-based filter realizations without redundant steps. The filters are compared to state of the art methods in this field on data recorded using low-cost microelectromechanical systems (MEMS) sensors with ground truth measured by the VICON optical system. Both filters achieved better accuracy than conventional methods at lower computational cost. The recorded data with ground truth reference and the source codes of both filters are publicly available.
提出了一种用于姿态和航向参考系统（AHRS）的新型预测-校正滤波器，该滤波器使用来自三个加速度计、三个磁力计和三个陀螺仪的正交传感器组合的数据。该滤波器采用预测-校正结构，基于陀螺仪进行预测，并对加速度和磁场传感器进行独立的校正步骤。我们提出了该滤波器的两种变体：（i）一种使用特殊正交群SO(3)的数学运算，这种运算对非线性运算准确，以实现尽可能高的精度；（ii）一种使用非线性运算的线性化以进行快速评估。这两种方法都是基于四元数的滤波器实现，没有冗余步骤。在使用低成本微机电系统（MEMS）传感器记录的数据上，将这两种滤波器与该领域的现有方法进行了比较，地面真值由VICON光学系统测量。两种滤波器在较低的计算成本下都比传统方法具有更高的精度。带有地面真值参考的记录数据和两种滤波器的源代码均可公开获取。
