INVESTIGADORES
DE ANGELO Cristian Hernan
artículos
Título:
An orientation estimation strategy for low cost IMU using a nonlinear Luenberger observer
Autor/es:
ALIGIA, DIEGO A.; ROCCIA, BRUNO A.; DE ANGELO, CRISTIAN H.; MAGALLÁN, GUILLERMO A.; GONZÁLEZ, GUILLERMO N.
Revista:
MEASUREMENT
Editorial:
ELSEVIER SCI LTD
Referencias:
Año: 2021 vol. 173
ISSN:
0263-2241
Resumen:
In this work a new orientation estimation strategy for a non-accelerated platform is presented. The proposed strategy is based on a low-cost inertial measurement unit (IMU). Orientation angles are obtained using a nonlinear Luenberger observer, while the common offset issues on the magnetometer are calibrated by a recursive least-square algorithm. The strategy is implemented using a TM4C123GXL microcontroller and a MPU9150 sensor (nine-axis: gyro, accelerometer and magnetometer), which makes it a low-cost, compact system. Experimental results for the calibration and estimation procedures are shown to validate the proposal.