ORIENTATION MODEL FOR INERTIAL DEVICES

摘要

There is described a computationally efficient quaternion-based orientation estimation model for a moving object using a specialized gradient descent correction step.

主权项

1. A computer-implemented method for estimating an orientation of a moving object in three-dimensional space, the method comprising:
obtaining filtered and calibrated angular velocity readings of the object; computing a first correction vector by directing a quaternion orientation estimate at time t−1 towards the angular velocity readings found at time t to generate a quaternion orientation estimate of the angular velocity readings at time t; obtaining filtered and calibrated proper acceleration readings of the object; computing a second correction vector by directing the quaternion orientation estimate of the angular velocity readings at time t towards the proper acceleration readings found at time t; and using the second correction vector as a measurement error for estimating the orientation of the moving object at time t.