A Motion Estimation Filter for Inertial Measurement Unit with On-Board Ferromagnetic Materials

Seyed Amir Tafrishi, Mikhail Mikhailovich Svinin, Motoji Yamamoto

研究成果: Contribution to journalArticle査読

抄録

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.

本文言語英語
論文番号9381641
ページ(範囲)4939-4946
ページ数8
ジャーナルIEEE Robotics and Automation Letters
6
3
DOI
出版ステータス出版済み - 7 2021

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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