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- W4378191937 abstract "The pose estimation of a mobile robotic system is essential in many autonomous applications. Inertial sensors provide high-frequency measurements that can be used to estimate the displacement, however, for estimating the orientation, an additional filter is required. Some of the newest Attitude and Heading Reference Systems can provide a referenced estimation of the orientation of the device, allowing it to retrieve the orientation of a robotic system. However, magnetic field perturbations caused by ferromagnetic objects or induced magnetic fields might influence these systems and, consequently, lead to the accumulation of errors over time. In this paper, the performance of the Xsens fusion filter is compared with a state-of-the-art algorithm to estimate the orientation of the system under dynamic movements and in the presence of magnetic perturbations, with the goal of finding the most suitable for an Unmanned Aerial Vehicle. The results show that both filters are robust and perform well in the target scenario, with a root mean squared error between 2 and 5 degrees; however, the Xsens fusion filter does not require an extra computer to process the data." @default.
- W4378191937 created "2023-05-26" @default.
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- W4378191937 date "2023-04-26" @default.
- W4378191937 modified "2023-10-17" @default.
- W4378191937 title "Assessment of the influence of magnetic perturbations and dynamic motions in a commercial AHRS" @default.
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- W4378191937 doi "https://doi.org/10.1109/icarsc58346.2023.10129577" @default.
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