Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Constraint-Combined Adaptive Complementary Filter for Accurate Yaw Estimation in Magnetically Disturbed Environments

  • Received : 2019.03.09
  • Accepted : 2019.03.28
  • Published : 2019.03.31
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Abstract

One of the major issues in inertial and magnetic measurement unit (IMMU)-based 3D orientation estimation is compensation for magnetic disturbances in magnetometer signals, as the magnetic disturbance is a major cause of inaccurate yaw estimation. In the proposed approach, a kinematic constraint is used to provide a measurement equation in addition to the accelerometer and magnetometer signals to mitigate the disturbance effect on the orientation estimation. Although a Kalman filter (KF) is the most popular framework for IMMU-based orientation estimation, a complementary filter (CF) has its own advantages over KF in terms of mathematical simplicity and ease of implementation. Accordingly, this paper introduces a quaternion-based CF with a constraint-combined correction equation. Furthermore, the weight of the constraint relative to the magnetometer signal is adjusted to adapt to magnetic environments to optimally deal with the magnetic disturbance. In the results of our validation experiments, the average and maximum of yaw errors were $1.17^{\circ}$ and $1.65^{\circ}$ from the proposed CF, respectively, and $8.88^{\circ}$ and $14.73^{\circ}$ from the conventional CF, respectively, showing the superiority of the proposed approach.

Keywords

HSSHBT_2019_v28n2_81_f0001.png 이미지

Fig. 1. Experimental setup.

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Fig. 2. Experimental result of Test 2: (a) magnitude of the applied magnetic disturbance and (b) yaw estimation errors with respect to the reference.

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Fig. 3. Experimental result of Test 3: (a) magnitude of the applied magnetic disturbance, (b) the weight of constraint, and (c)~(e) yaw, pitch and roll estimation errors with respect to the reference, respectively.

Table 1. Experimental conditions of each test.

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Table 2. Experimental results (unit: degree).

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