An attitude determination system based on adaptive kalman filter for human machine interface

Xiaoming Hu; Qin Li; Changyu He; Yue Liu

doi:10.1007/978-3-642-23226-8_23

An attitude determination system based on adaptive kalman filter for human machine interface

Xiaoming Hu^*, Qin Li, Changyu He, Yue Liu

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

This paper presents a low cost three degree-of-freedom attitude determination system for human machine interface. The system consists a triaxis accelerometer and a triaxis magnetometer. The attitude measurement algorithm which direct calculates the attitude is first discussed, and the error due to motion acceleration is analyzed, then an adaptive Kalman filter which dynamically modifies the measurement variance is proposed to estimate the attitude. The proposed filter is implemented on a homemade module, and compared with commercial motion tracking system which uses an additional triaxis gyroscope. Experimental results show that this method can be used for low-cost real time human machine interface.

Original language	English
Title of host publication	Applied Informatics and Communication - International Conference, ICAIC 2011, Proceedings
Pages	170-177
Number of pages	8
Edition	PART 4
DOIs	https://doi.org/10.1007/978-3-642-23226-8_23
Publication status	Published - 2011
Event	2011 International Conference on Applied Informatics and Communication, ICAIC 2011 - Xi'an, China Duration: 20 Aug 2011 → 21 Aug 2011

Publication series

Name	Communications in Computer and Information Science
Number	PART 4
Volume	227 CCIS
ISSN (Print)	1865-0929

Conference

Conference	2011 International Conference on Applied Informatics and Communication, ICAIC 2011
Country/Territory	China
City	Xi'an
Period	20/08/11 → 21/08/11

Keywords

Attitude Determination
Human Machine Interface
Kalman filter

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10.1007/978-3-642-23226-8_23

Cite this

Hu, X., Li, Q., He, C., & Liu, Y. (2011). An attitude determination system based on adaptive kalman filter for human machine interface. In Applied Informatics and Communication - International Conference, ICAIC 2011, Proceedings (PART 4 ed., pp. 170-177). (Communications in Computer and Information Science; Vol. 227 CCIS, No. PART 4). https://doi.org/10.1007/978-3-642-23226-8_23

@inproceedings{e44b5e8015f44023ba7769608a20a3b3,

title = "An attitude determination system based on adaptive kalman filter for human machine interface",

abstract = "This paper presents a low cost three degree-of-freedom attitude determination system for human machine interface. The system consists a triaxis accelerometer and a triaxis magnetometer. The attitude measurement algorithm which direct calculates the attitude is first discussed, and the error due to motion acceleration is analyzed, then an adaptive Kalman filter which dynamically modifies the measurement variance is proposed to estimate the attitude. The proposed filter is implemented on a homemade module, and compared with commercial motion tracking system which uses an additional triaxis gyroscope. Experimental results show that this method can be used for low-cost real time human machine interface.",

keywords = "Attitude Determination, Human Machine Interface, Kalman filter",

author = "Xiaoming Hu and Qin Li and Changyu He and Yue Liu",

year = "2011",

doi = "10.1007/978-3-642-23226-8_23",

language = "English",

isbn = "9783642232251",

series = "Communications in Computer and Information Science",

number = "PART 4",

pages = "170--177",

booktitle = "Applied Informatics and Communication - International Conference, ICAIC 2011, Proceedings",

edition = "PART 4",

note = "2011 International Conference on Applied Informatics and Communication, ICAIC 2011 ; Conference date: 20-08-2011 Through 21-08-2011",

}

Hu, X , Li, Q, He, C & Liu, Y 2011, An attitude determination system based on adaptive kalman filter for human machine interface. in Applied Informatics and Communication - International Conference, ICAIC 2011, Proceedings. PART 4 edn, Communications in Computer and Information Science, no. PART 4, vol. 227 CCIS, pp. 170-177, 2011 International Conference on Applied Informatics and Communication, ICAIC 2011, Xi'an, China, 20/08/11. https://doi.org/10.1007/978-3-642-23226-8_23

An attitude determination system based on adaptive kalman filter for human machine interface. / Hu, Xiaoming ; Li, Qin; He, Changyu et al.
Applied Informatics and Communication - International Conference, ICAIC 2011, Proceedings. PART 4. ed. 2011. p. 170-177 (Communications in Computer and Information Science; Vol. 227 CCIS, No. PART 4).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An attitude determination system based on adaptive kalman filter for human machine interface

AU - Hu, Xiaoming

AU - Li, Qin

AU - He, Changyu

AU - Liu, Yue

PY - 2011

Y1 - 2011

N2 - This paper presents a low cost three degree-of-freedom attitude determination system for human machine interface. The system consists a triaxis accelerometer and a triaxis magnetometer. The attitude measurement algorithm which direct calculates the attitude is first discussed, and the error due to motion acceleration is analyzed, then an adaptive Kalman filter which dynamically modifies the measurement variance is proposed to estimate the attitude. The proposed filter is implemented on a homemade module, and compared with commercial motion tracking system which uses an additional triaxis gyroscope. Experimental results show that this method can be used for low-cost real time human machine interface.

AB - This paper presents a low cost three degree-of-freedom attitude determination system for human machine interface. The system consists a triaxis accelerometer and a triaxis magnetometer. The attitude measurement algorithm which direct calculates the attitude is first discussed, and the error due to motion acceleration is analyzed, then an adaptive Kalman filter which dynamically modifies the measurement variance is proposed to estimate the attitude. The proposed filter is implemented on a homemade module, and compared with commercial motion tracking system which uses an additional triaxis gyroscope. Experimental results show that this method can be used for low-cost real time human machine interface.

KW - Attitude Determination

KW - Human Machine Interface

KW - Kalman filter

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U2 - 10.1007/978-3-642-23226-8_23

DO - 10.1007/978-3-642-23226-8_23

M3 - Conference contribution

AN - SCOPUS:80052365905

SN - 9783642232251

T3 - Communications in Computer and Information Science

SP - 170

EP - 177

BT - Applied Informatics and Communication - International Conference, ICAIC 2011, Proceedings

T2 - 2011 International Conference on Applied Informatics and Communication, ICAIC 2011

Y2 - 20 August 2011 through 21 August 2011

ER -

An attitude determination system based on adaptive kalman filter for human machine interface

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