Efficient Attitude Estimators: A Tutorial and Survey

by   Hussein Al-Jlailaty, et al.

Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate position, velocity and orientation of a system with respect to an inertial reference frame. The task of an orientation filter is to compute an optimal solution for the attitude state, consisting of roll, pitch and yaw, through the fusion of angular rate, accelerometer, and magnetometer measurements. The aim of this paper is threefold: first, it serves researchers and practitioners in the signal processing community seeking the most appropriate attitude estimators that fulfills their needs, shedding light on the drawbacks and the advantages of a wide variety of designs. Second, it serves as a survey and tutorial for existing estimator designs in the literature, assessing their design aspects and components, and dissecting their hidden details for the benefit of researchers. Third, a comprehensive list of algorithms is discussed for a fully functional inertial navigation system, starting from the navigation equations and ending with the filter equations, keeping in mind their suitability for power limited embedded processors. The source code of all algorithms is published, with the aim of it being an out-of-box solution for researchers in the field. The reader will take away the following concepts from this article: understand the key concepts of an inertial navigation system; be able to implement and test a complete stand alone solution; be able to evaluate and understand different algorithms; understand the trade-offs between different filter architectures and techniques; and understand efficient embedded processing techniques, trends and opportunities.


page 4

page 5

page 6

page 10

page 21

page 27

page 29

page 30


Next-Generation Inertial Navigation Computation Based on Functional Iteration

Inertial navigation computation is to acquire the attitude, velocity and...

Nonlinear Deterministic Observer for Inertial Navigation using Ultra-wideband and IMU Sensor Fusion

Navigation in Global Positioning Systems (GPS)-denied environments requi...

Inertial Navigation Using an Inertial Sensor Array

We present a comprehensive framework for fusing measurements from multip...

Information Aided Navigation: A Review

The performance of inertial navigation systems is largely dependent on t...

Visual-Inertial Navigation: A Concise Review

As inertial and visual sensors are becoming ubiquitous, visual-inertial ...

Observers Design for Inertial Navigation Systems: A Brief Tutorial

The design of navigation observers able to simultaneously estimate the p...

Cascade LSTM Based Visual-Inertial Navigation for Magnetic Levitation Haptic Interaction

Haptic feedback is essential to acquire immersive experience when intera...

Please sign up or login with your details

Forgot password? Click here to reset