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Article: IMU-Based Attitude Estimation in the Presence of Narrow-Band Noise

TitleIMU-Based Attitude Estimation in the Presence of Narrow-Band Noise
Authors
KeywordsEstimation
frequency estimation
kinematics
noise attenuation
vibrations
Issue Date2019
PublisherIEEE. 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?
AbstractIn 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 Identifierhttp://hdl.handle.net/10722/269431
ISSN
2019 Impact Factor: 5.673
2015 SCImago Journal Rankings: 2.305
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorLu, G-
dc.contributor.authorZhang, F-
dc.date.accessioned2019-04-24T08:07:33Z-
dc.date.available2019-04-24T08:07:33Z-
dc.date.issued2019-
dc.identifier.citationIEEE/ASME Transactions on Mechatronics, 2019, v. 24 n. 2, p. 841-852-
dc.identifier.issn1083-4435-
dc.identifier.urihttp://hdl.handle.net/10722/269431-
dc.description.abstractIn 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.languageeng-
dc.publisherIEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516-
dc.relation.ispartofIEEE/ASME Transactions on Mechatronics-
dc.rightsIEEE/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.subjectEstimation-
dc.subjectfrequency estimation-
dc.subjectkinematics-
dc.subjectnoise attenuation-
dc.subjectvibrations-
dc.titleIMU-Based Attitude Estimation in the Presence of Narrow-Band Noise-
dc.typeArticle-
dc.identifier.emailZhang, F: fuzhang@hku.hk-
dc.identifier.authorityZhang, F=rp02460-
dc.description.naturepostprint-
dc.identifier.doi10.1109/TMECH.2019.2896130-
dc.identifier.scopuseid_2-s2.0-85064621114-
dc.identifier.hkuros297653-
dc.identifier.volume24-
dc.identifier.issue2-
dc.identifier.spage841-
dc.identifier.epage852-
dc.identifier.isiWOS:000465250500039-
dc.publisher.placeUnited States-
dc.identifier.issnl1083-4435-

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