Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
A Study of Attitude and Heading Determination through an EKF-based Sensor Fusion for Inertial Measurement Units (IMUs)
Submission Author:
Fabian Barrera , DF , Brazil
Co-Authors:
Fabian Barrera, Renato Sampaio, Daniel Munoz, CARLOS H Llanos
Presenter: Fabian Barrera
doi://10.26678/ABCM.COBEM2017.COB17-1859
Abstract
This paper presents the study and design of a sensor fusion technique for Inertial Measurement Units (IMUs) of 6 and 9 degrees of freedom (DOF) in order to determine the attitude (roll, pitch) and heading (yaw) based on the use of Extend Kalman Filter (EKF). The IMUs chosen are the MPU6050 (6 DOF, comprising accelerometer and gyroscope) and the MPU9250 (9 DOF, comprising accelerometer, gyroscope and magnetometer). To estimate the Attitude and Heading of each IMU a technique for sensor fusion has been used which is based on the use of a gyroscope as the system model and both the accelerometer and the magnetometer as sensors. For the sensor fusion design the EKF has been chosen due to the fact that the system model is highly non-linear. The calibration and tests of the IMUs have been achieved through a platform, which was manufactured in a 3D printer. Additionally, the simulation results show that the technique used for the sensor fusion presents good quality for both Attitude and Heading estimation for the two IMUs.
Keywords
Sensor Fusion, Extend Kalman Filter, Inertial Measurement Units, attitude, Heading
