TY  - CHAP
AU  - Fourati H., Manamanni
PY  - 2009//
TI  - Sensors-based data fusion solution design for 3D motion estimation with application in Bio-logging.
SP  - 1012
EP  - 1031
VL  - International Journal on Sciences and Techniques o
IS  - 3 (2)
N2  - The main purpose of this paper deals with the orientation estimationproblem of a rigid-body motion in space. We present an algorithm for attitudeestimation, expressed in quaternion representation, using low-cost sensors as3-axis accelerometer, 3-axis magnetometer and 3-axis gyroscope. Thealgorithm is based on a complementary nonlinear observer coupled with aLevenberg Marquardt Algorithm (LMA). Moreover, the proposed solutionexploits kinematic equation model and includes the estimation of rate gyrosbiases to compensate angular velocity measurements. This algorithm isdeveloped in order to address the well-known problem of the weak dynamics ofthe attitude sensors (accelerometer and magnetometer). The efficiency of theproposed observer is illustrated by an attitude estimation example in presenceof realistic measurements provided by low-cost sensors. Some preliminaryexperimental results are provided also to prove the performance of theproposed method. The developed approach will be applied in future works inBio-logging area which interests to study the animal behavior and its energyexpenditure by determining its movement patterns (3D motion or orientation).
N1  - exported from refbase (http://publi.ipev.fr/polar_references/show.php?record=318), last updated on Mon, 01 Jul 2024 13:12:36 +0200
ID  - FouratiH.2009
ER  -