Dynamic posture sensing module based on micro IMU and adaptive filter algorithm

This paper presents a novel adaptive filter algorithm for dynamic posture sensing applications. We concentrate on Pitch and Roll angle calculation based on micro inertial measurement unit which is built with MEMS sensors and a GPS module. To eliminate errors of the strapdown inertial navigation system in linear motion modes, an adaptive attenuated memory Kalman filter is used in this paper. By adaptively changing the forgetting factor in different motion modes, the filter can get rid of useless noise of the accelerometer values. To validate this method, moving car tests are carried out. The Kalman filter can effectively eliminate the additional acceleration, thus the posture accuracy of strapdown inertial navigation in the linear acceleration and deceleration motion mode can be improved.