Inertial/Magnetic Sensors Based Orientation Tracking on the Group of Rigid Body Rotations with Application to Wearable Devices

@article{Campolo2006InertialMagneticSB,
  title={Inertial/Magnetic Sensors Based Orientation Tracking on the Group of Rigid Body Rotations with Application to Wearable Devices},
  author={Domenico Campolo and Flavio Keller and Eugenio Guglielmelli},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2006},
  pages={4762-4767}
}
In this work the problem of orientation tracking based on inertial/magnetic sensors is restated in geometric terms, in particular an intrinsic observer, i.e. an observer whose performance does not depend on a specific choice of coordinates, is derived on the Lie group of rigid body rotations SO(3). Measurements of the gravitational and geomagnetic fields are used to estimate orientation errors. A coordinate-free control law is defined on the Lie algebra and fed back in terms of angular velocity… CONTINUE READING
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