TY - JOUR
T1 - A Motion Estimation Filter for Inertial Measurement Unit with On-Board Ferromagnetic Materials
AU - Tafrishi, Seyed Amir
AU - Svinin, Mikhail Mikhailovich
AU - Yamamoto, Motoji
N1 - Funding Information:
Manuscript received October 10, 2020; accepted March 10, 2021. Date of publication March 18, 2021; date of current version April 19, 2021. This letter was recommended for publication by Associate Editor S. Julier and Editor E. Marchand upon evaluation of the reviewers’ comments. This work was supported in part by the Japan Science and Technology Agency and in part by the JST Strategic International Collaborative Research Program, under Project No. 18065977. (Corresponding author: Seyed Amir Tafrishi.) Seyed Amir Tafrishi and Motoji Yamamoto are with the Department of Mechanical Engineering, Kyushu University, Kyushu, 819-0167, Japan (e-mail: amir@ce.mech.kyushu-u.ac.jp; yama@mech.kyushu-u.ac.jp).
Publisher Copyright:
© 2021 Tsinghua University Press. All rights reserved.
PY - 2021/7
Y1 - 2021/7
N2 - Magnetic distortions due to existing appliances and on-board objects with ferromagnetic materials cause serious bias and deviations in motion estimation by inertial measurement sensors with magnetometers. This problem requires a proper sensor fusion to do motion tracking with a minimal angular error. This letter presents a design of a complementary filter that compensates the strong magnetic effects of on-board ferromagnetic materials. Not only the attached permanent magnets may have serious biases on the magnetometer axes but also there is a magnetic distortion due to soft ferromagnetic materials, i.e., steel. After defining the signals of the inertial/magnetic sensors, the process and measurement models are described and a Kalman filter is constructed. The designed filter can be used for motion tracking in environments with magnetic distortions, and in robot actuators with magnetic parts. The performance of the proposed filter is verified under experiment and compared with conventional filters. Finally, we raise a question about whether the attachment of permanent magnets to inertial measurement sensors can serve as a magnetic shield improving the motion estimation.
AB - Magnetic distortions due to existing appliances and on-board objects with ferromagnetic materials cause serious bias and deviations in motion estimation by inertial measurement sensors with magnetometers. This problem requires a proper sensor fusion to do motion tracking with a minimal angular error. This letter presents a design of a complementary filter that compensates the strong magnetic effects of on-board ferromagnetic materials. Not only the attached permanent magnets may have serious biases on the magnetometer axes but also there is a magnetic distortion due to soft ferromagnetic materials, i.e., steel. After defining the signals of the inertial/magnetic sensors, the process and measurement models are described and a Kalman filter is constructed. The designed filter can be used for motion tracking in environments with magnetic distortions, and in robot actuators with magnetic parts. The performance of the proposed filter is verified under experiment and compared with conventional filters. Finally, we raise a question about whether the attachment of permanent magnets to inertial measurement sensors can serve as a magnetic shield improving the motion estimation.
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U2 - 10.1109/LRA.2021.3067301
DO - 10.1109/LRA.2021.3067301
M3 - Article
AN - SCOPUS:85103243456
VL - 6
SP - 4939
EP - 4946
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 3
M1 - 9381641
ER -