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Experimental comparison between Mahoney and Complementary sensor fusion algorithm for attitude determination by raw sensor data of Xsens IMU on buoy

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Jouybari, A, Ardalan, AA and Rezvani, M-H 2017 , 'Experimental comparison between Mahoney and Complementary sensor fusion algorithm for attitude determination by raw sensor data of Xsens IMU on buoy', in TP Kersten and F Remondino (eds.), The International Archives of the Photogrammetry, Remote sensing and Spatial Information Sciences , Copernicus GmbH, Germany, pp. 497-502 , doi: 10.5194/isprs-archives-XLII-4-W4-497-2017.

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Abstract

The accurate measurement of platform orientation plays a critical role in a range of applications including marine, aerospace, robotics, navigation, human motion analysis, and machine interaction. We used Mahoney filter, Complementary filter and Xsens Kalman filter for achieving Euler angle of a dynamic platform by integration of gyroscope, accelerometer, and magnetometer measurements. The field test has been performed in Kish Island using an IMU sensor (Xsens MTi-G-700) that installed onboard a buoy so as to provide raw data of gyroscopes, accelerometers, magnetometer measurements about 25 minutes. These raw data were used to calculate the Euler angles by Mahoney filter and Complementary filter, while the Euler angles collected by XSense IMU sensor become the reference of the Euler angle estimations. We then compared Euler angles which calculated by Mahoney Filter and Complementary Filter with reference to the Euler angles recorded by the XSense IMU sensor. The standard deviations of the differences between the Mahoney Filter, Complementary Filter Euler angles and XSense IMU sensor Euler angles were about 0.5644, 0.3872, 0.4990 degrees and 0.6349, 0.2621, 2.3778 degrees for roll, pitch, and heading, respectively, so the numerical resultassert that Mahoney filter is precise for roll and heading angles determination and Complementary filter is precise only for pitch determination, it should be noted that heading angle determination by Complementary filter has more error than Mahoney filter.

Item Type: Conference Publication
Authors/Creators:Jouybari, A and Ardalan, AA and Rezvani, M-H
Keywords: xsens kalman filter, mahoney filter, complementary filter, integration, raw data, IMU
Journal or Publication Title: The International Archives of the Photogrammetry, Remote sensing and Spatial Information Sciences
Publisher: Copernicus GmbH
ISSN: 1682-1750
DOI / ID Number: 10.5194/isprs-archives-XLII-4-W4-497-2017
Copyright Information:

Copyright 2017 the Authors. Licensed under Creative Commons Attribution 4.0 International (CC BY 4.0) https://creativecommons.org/licenses/by/4.0/

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