Inertial Localization System using Unscented Kalman Filter for 3D Positioning

摘要：

This paper presents the implementation of an novel inertial localization system for 3D positioning including 3 main functions: unscented Kalman filter (UKF) based sensor data fusion for accurate orientation determination; magnetic disturbance detection and minimization for robustness and stability when experiencing local magnetic disturbance; Zero Velocity Update (ZUPT) for velocity correction. In both indoor and outdoor experiment scenarios, the system is able to obtain correct 3D trajectory.

关键词： Uscented Kalman liter IMU inertial localiza-tion magnetic disturbance data fusion

作者: Rui Zhang Leonhard M. Reindl

作者单位: Department of Microsystems Engineering University of Freiburg Georges- Koehler-Allee 103 79110, Freiburg, Germany

会议类型: 国际会议

会议名称: 2011 4th International Congress on Image and Signal Processing(第四届图像与信号处理国际学术会议 CISP 2011)

会议地点: 上海

会议语种:英文

页码: 2700-2704

在线出版日期: 2011-10-15（万方平台首次上网日期，不代表论文的发表时间）