Transcription of An e cient orientation lter for inertial and inertial ...
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An e cient orientation lter for inertial and inertial ...
An efficient orientation filter for inertial andinertial/magnetic sensor arraysSebastian MadgwickApril 30, 2010 AbstractThis report presents a novel orientation filter applicable to IMUs consisting oftri-axis gyroscopes and accelerometers, and MARG sensor arrays that also includetri-axis magnetometers. The MARG implementation incorporates magnetic distortionand gyroscope bias drift compensation. The filter uses a quaternion representation,allowing accelerometer and magnetometer data to be used in an analytically derivedand optimised gradient-descent algorithm to compute the direction of the gyroscopemeasurement error as a quaternion derivative.
1 Introduction The accurate measurement of orientation plays a critical role in a range of elds includ-ing: aerospace [1, 2, 3], robotics [4, …
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