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Evaluation of AHRS Algorithms for Inertial Personal Localization in Industrial Environments

Munoz Diaz, Estefania and De Ponte Müller, Fabian and Jiménez, Antonio and Zampella, Francisco (2015) Evaluation of AHRS Algorithms for Inertial Personal Localization in Industrial Environments. ICIT 2015, Seville, Spain.

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Abstract

This paper presents a comparison among several state-of-the-art Attitude and Heading Reference Systems (AHRS). These algorithms can be used for 3D orientation and position estimation of users or devices. The robust performance of these AHRS algorithms is of paramount importance, specially in environments with potential external perturbations, such as industrial environments. The comparison among AHRS algorithms presented in this paper also includes an algorithm recently proposed by the authors (DLR-AHRS). In this paper the performance of the different AHRS will be studied, including the effect of magnetic perturbations on the performance of orientation estimation, and the effect of using different patterns of motion when the sensor is carried by a user at different locations (pocket, foot/shoe, hand). These AHRS algorithms are also compared with the Kalman-based commercially available AHRS algorithm of Xsens. The performance of the AHRS algorithms depends strongly on the strategies used to reject perturbations (sudden accelerations or deformations of the Earth magnetic field) and the ability of the systems to estimate the biases of the gyroscopes.

Item URL in elib:https://elib.dlr.de/95765/
Document Type:Conference or Workshop Item (Speech)
Title:Evaluation of AHRS Algorithms for Inertial Personal Localization in Industrial Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Munoz Diaz, Estefaniaestefania.munoz (at) dlr.deUNSPECIFIED
De Ponte Müller, Fabianfabian.pontemueller (at) dlr.deUNSPECIFIED
Jiménez, AntonioSpanish National Research Council (CSIC)UNSPECIFIED
Zampella, FranciscoSpanish National Research Council (CSIC)UNSPECIFIED
Date:March 2015
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Orientation, AHRS, pocket, foot, Madgwick, Mahony
Event Title:ICIT 2015
Event Location:Seville, Spain
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Vorhaben GNSS2/Neue Dienste und Produkte
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Munoz Diaz-Ropero, Estefania
Deposited On:27 Mar 2015 09:06
Last Modified:31 Jul 2019 19:52

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