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A complementary observer-based approach for the estimation of motion in rigid bodies using inertial and magnetic sensors

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5 Author(s)
H. Fourati ; CReSTIC-URCA, Reims Champagne Ardenne University, France ; N. Manamanni ; L. Afilal ; P. Van Hove
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This paper addresses the problem of rigid body orientation tracking. A complementary nonlinear observer is proposed for attitude estimation using inertial/magnetic sensors. The approach developed here is applied in Bio-logging, an interdisciplinary research area at the intersection of animal behavior and bioengineering. We propose a state estimation algorithm that combines three complementary data obtained from a 3-axis accelerometer, a 3-axis magnetometer and a 3-axis gyroscope in order to provide the best attitude. The proposed algorithm is based on a nonlinear observer coupled with an Iterated Least Squares Algorithm (ISLA). The evaluation of the state estimator by simulation is followed by some experiments illustrating the efficiency of the proposed approach.

Published in:

2010 IEEE International Conference on Control Applications

Date of Conference:

8-10 Sept. 2010