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arXiv · 1809.10669

Robust Sensor Fusion for Robot Attitude Estimation

Philipp Allgeuer·Sven Behnke
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Abstract

Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation estimate is presented in this paper. The concept of fused yaw, used by the estimator, is also introduced. The estimator, a nonlinear complementary filter at heart, is designed to be uniformly robust and stable---independent of the absolute orientation of the body---and has been implemented and released as a cross-platform open source C++ library. Extensions to the estimator, such as quick learning and the ability to deal dynamically with cases of reduced sensory information, are also presented.

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Philipp Allgeuer, Sven Behnke. 2018-09-27. Robust Sensor Fusion for Robot Attitude Estimation. https://arxiv.org/abs/1809.10669

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