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Inertial/Magnetic Sensors Based Orientation Tracking on the Group of Rigid Body Rotations with Application to Wearable Devices

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3 Author(s)
Campolo, D. ; Biomedical Robotics & EMC Lab, Universita Campus Bio-Medico, Rome ; Keller, F. ; Guglielmelli, E.

In this work the problem of orientation tracking based on inertial/magnetic sensors is restated in geometric terms, in particular an intrinsic observer, i.e. an observer whose performance does not depend on a specific choice of coordinates, is derived on the Lie group of rigid body rotations SO(3). Measurements of the gravitational and geomagnetic fields are used to estimate orientation errors. A coordinate-free control law is defined on the Lie algebra and fed back in terms of angular velocity that steers the observer towards the correct attitude. A proof of stability for the proposed estimator is provided which relies on the natural (bi-invariant) metric of SO(3). The observer results stable for almost the whole configuration space. Presence of unstable equilibria as a limitation for global stability is also discussed. Based on the proposed intrinsic control law, a filter is designed which implements the observer. Simulations are presented that test the numerical implementation of the proposed observer

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

9-15 Oct. 2006

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