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Article: IMU-Based Attitude Estimation in the Presence of Narrow-Band Noise
Title | IMU-Based Attitude Estimation in the Presence of Narrow-Band Noise |
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Authors | |
Keywords | Estimation frequency estimation kinematics noise attenuation vibrations |
Issue Date | 2019 |
Publisher | IEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516 |
Citation | IEEE/ASME Transactions on Mechatronics, 2019, v. 24 n. 2, p. 841-852 How to Cite? |
Abstract | In this paper, we consider the inertial measurement units (IMUs) based attitude estimation, a common core problem in a large variety of robotic systems. In particular, we focus on the case where the IMU measurements are contaminated by narrow-band vibration noises caused by the system flexible mode, aerodynamic turbulence, or rotating parts (e.g., motors). Our proposed scheme is a complete solution to adaptively estimate the narrow-band noise and actively compensate it in the attitude estimation. More specifically, the scheme adopts a notch filter to attenuate the narrow-band noise and subsequently embeds such filter into a multiplicative extended Kalman filter framework to eliminate the induced transient error. Furthermore, a least mean square method is utilized to estimate the dominant noise frequency in real time, forming an adaptive notch filter that can effectively attenuate the narrow-band noise with time-varying dominant frequency. The complete algorithm is verified on an actual gimbal system with exhaustive experiments. |
Persistent Identifier | http://hdl.handle.net/10722/269431 |
ISSN | 2023 Impact Factor: 6.1 2023 SCImago Journal Rankings: 2.133 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Lu, G | - |
dc.contributor.author | Zhang, F | - |
dc.date.accessioned | 2019-04-24T08:07:33Z | - |
dc.date.available | 2019-04-24T08:07:33Z | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | IEEE/ASME Transactions on Mechatronics, 2019, v. 24 n. 2, p. 841-852 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | http://hdl.handle.net/10722/269431 | - |
dc.description.abstract | In this paper, we consider the inertial measurement units (IMUs) based attitude estimation, a common core problem in a large variety of robotic systems. In particular, we focus on the case where the IMU measurements are contaminated by narrow-band vibration noises caused by the system flexible mode, aerodynamic turbulence, or rotating parts (e.g., motors). Our proposed scheme is a complete solution to adaptively estimate the narrow-band noise and actively compensate it in the attitude estimation. More specifically, the scheme adopts a notch filter to attenuate the narrow-band noise and subsequently embeds such filter into a multiplicative extended Kalman filter framework to eliminate the induced transient error. Furthermore, a least mean square method is utilized to estimate the dominant noise frequency in real time, forming an adaptive notch filter that can effectively attenuate the narrow-band noise with time-varying dominant frequency. The complete algorithm is verified on an actual gimbal system with exhaustive experiments. | - |
dc.language | eng | - |
dc.publisher | IEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516 | - |
dc.relation.ispartof | IEEE/ASME Transactions on Mechatronics | - |
dc.rights | IEEE/ASME Transactions on Mechatronics. Copyright © IEEE. | - |
dc.rights | ©2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.subject | Estimation | - |
dc.subject | frequency estimation | - |
dc.subject | kinematics | - |
dc.subject | noise attenuation | - |
dc.subject | vibrations | - |
dc.title | IMU-Based Attitude Estimation in the Presence of Narrow-Band Noise | - |
dc.type | Article | - |
dc.identifier.email | Zhang, F: fuzhang@hku.hk | - |
dc.identifier.authority | Zhang, F=rp02460 | - |
dc.description.nature | postprint | - |
dc.identifier.doi | 10.1109/TMECH.2019.2896130 | - |
dc.identifier.scopus | eid_2-s2.0-85064621114 | - |
dc.identifier.hkuros | 297653 | - |
dc.identifier.volume | 24 | - |
dc.identifier.issue | 2 | - |
dc.identifier.spage | 841 | - |
dc.identifier.epage | 852 | - |
dc.identifier.isi | WOS:000465250500039 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 1083-4435 | - |