Orientation Estimation Based on LKF Using Differential State Equation

摘要: Smart devices, such as mobile phones, smart watches, and other wearable require accurate methodology to detect change in orientation. Determining the orientation of device is useful for developing applications field fitness, healthcare, sports, gaming. There are existing methods based on sensor fusion determine a device, but these have drawbacks terms accuracy, stability, or response times. This paper proposes new quaternion-based approach estimating accelerometer, magnetometer, gyroscope sensors. The proposed method uses low complexity linear Kalman filter differential state equation provides substantial performance improvements by compensating sample-wise drift time update system instead measurement system. ensures that uncertainty while using reduced computed both fast use applications. Based during estimation, it observed solution detects minor changes accurately with characteristics also completely remove any drift. computation results settling compared estimation methods.