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In use parameter estimation of inertial sensors by detecting multilevel quasi-static states

Saxena, A; Gupta, G; Gerasimov, V; Ourselin, S; (2005) In use parameter estimation of inertial sensors by detecting multilevel quasi-static states. In: Khosla, R and Howlett, RJ and Jain, LC, (eds.) KNOWLEDGE-BASED INTELLIGENT INFORMATION AND ENGINEERING SYSTEMS, PT 4, PROCEEDINGS. (pp. 595 - 601). SPRINGER-VERLAG BERLIN

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Abstract

We present an autoadaptive algorithm for in-use parameter estimation of MEMS inertial accelerometers and gyros(1) using multi-level quasi-static states for greater accuracy and reliability. Multi-level quasi-static states are detected robustly using data from both gyros and accelerometers. Proper estimation of time-varying sensor parameters allows us to develop a mixed-reality real-time hand-held orientation tracker with dynamic accuracy of less than 2(0). Existing methods like Kalman filters do not take time-varying nature of parameters into account, instead modelling the time-variation as higher values in noise covariance matrices; thus underestimating the sensor capabilities.

Type: Proceedings paper
Title: In use parameter estimation of inertial sensors by detecting multilevel quasi-static states
Event: 9th International Conference on Knowledge-Based Intelligent Information and Engineering Systems
Location: La Trobe Univ, Melbourne, AUSTRALIA
Dates: 2005-09-14 - 2005-09-16
ISBN: 3-540-28897-X
Keywords: ACCELEROMETERS, CALIBRATION
UCL classification: UCL > School of BEAMS > Faculty of Engineering Science > Medical Physics and Bioengineering
URI: http://discovery.ucl.ac.uk/id/eprint/70665
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