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Hardware Accelerated Image Processing on an FPGA-SoC Based Vision System for Closed Loop Monitoring and Additive Manufacturing Process Control Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Reference-Free Adaptive Attitude Determination Method Using Low-Cost MARG Sensors

Authors : Jian Ding, Jin Wu, Mingsen Deng, Ming Liu

Published in: Computer Vision Systems

Publisher: Springer International Publishing

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Abstract

In this paper, an improved iterative method for attitude determination using microelectromechanical-system (MEMS) Magnetic, Angular Rate, and Gravity (MARG) sensors is proposed. The proposed complementary filter is motivated by several existing algorithms and it decreases the amount of variables for iteration which consequently lowers the convergence time. To enhance the adaptive ability i.e. the performance under external acceleration, of the proposed method, a novel scheme is designed, where the gravity estimation residual is utilized for adaptive tuning of the complementary gain. Experiments are carried out to demonstrate the advantages of the proposed method. The comparisons with representative methods show that the proposed method is more effective, not only in convergence speed, but in dynamic performance under harsh conditions as well.

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Metadata
Title
Reference-Free Adaptive Attitude Determination Method Using Low-Cost MARG Sensors
Authors
Jian Ding
Jin Wu
Mingsen Deng
Ming Liu
Copyright Year
2019
Book
Computer Vision Systems

Print ISBN: 978-3-030-34994-3

Electronic ISBN: 978-3-030-34995-0

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-030-34995-0_4

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