TY - GEN
T1 - Sensor motion tracking by IMM-based extended Kalman filters
AU - Wann, Chin Der
AU - Gao, Jian Hau
PY - 2009
Y1 - 2009
N2 - In this paper, we present a real-time motion estimation and tracking scheme using interacting multiple model (IMM) based Kalman filters. In the proposed IMM-based structure, two filters, quaternion-based extended Kalman filter (QBEKF) and gyroscope-based extended Kalman filter (GBEKF) are utilized for sensor motion state estimation. In the QBEKF, measurements from gyroscope, accelerometer and magnetometer are processed; while in the GBEKF, sole measurements from gyroscope are processed. The interacting multiple model algorithm is capable of adaptively fusing the estimated states from the two models, and generating better estimation results via the flexibility of model weighting. Simulation results validate the proposed estimator design concept, and show that the scheme is capable of reducing the overall estimation errors.
AB - In this paper, we present a real-time motion estimation and tracking scheme using interacting multiple model (IMM) based Kalman filters. In the proposed IMM-based structure, two filters, quaternion-based extended Kalman filter (QBEKF) and gyroscope-based extended Kalman filter (GBEKF) are utilized for sensor motion state estimation. In the QBEKF, measurements from gyroscope, accelerometer and magnetometer are processed; while in the GBEKF, sole measurements from gyroscope are processed. The interacting multiple model algorithm is capable of adaptively fusing the estimated states from the two models, and generating better estimation results via the flexibility of model weighting. Simulation results validate the proposed estimator design concept, and show that the scheme is capable of reducing the overall estimation errors.
KW - Extended kalman filter
KW - Interacting multiple model
KW - Motion estimation
KW - Motion tracking
UR - http://www.scopus.com/inward/record.url?scp=77951450358&partnerID=8YFLogxK
U2 - 10.1109/ICICIC.2009.328
DO - 10.1109/ICICIC.2009.328
M3 - 会议稿件
AN - SCOPUS:77951450358
SN - 9780769538730
T3 - 2009 4th International Conference on Innovative Computing, Information and Control, ICICIC 2009
SP - 1377
EP - 1380
BT - 2009 4th International Conference on Innovative Computing, Information and Control, ICICIC 2009
T2 - 2009 4th International Conference on Innovative Computing, Information and Control, ICICIC 2009
Y2 - 7 December 2009 through 9 December 2009
ER -