Kalman filter-based yaw angle estimation by fusing inertial and magnetic sensing: a case study using low cost sensors

Abstract

Purpose

The purpose of this paper is to achieve reliable estimation of yaw angles by fusing data from low-cost inertial and magnetic sensing.

Design/methodology/approach

In this paper, yaw angle is estimated by fusing inertial and magnetic sensing from a digital compass and a gyroscope, respectively. A Kalman filter estimates the error produced by the gyroscope.

Findings

Drift effect produced by the gyroscope is significantly reduced and, at the same time, the system has the ability to react quickly to orientation changes. The system combines the best of each sensor, the stability of the magnetic sensor and the fast response of the inertial sensor.

Research limitations/implications

The system does not present a stable behavior in the presence of large vibrations. Considerable calibration efforts are needed.

Practical implications

Today, most of human–robot interaction technologies need to have the ability to estimate orientation, especially yaw angle, from small-sized and low-cost sensors.

Originality/value

Existing methods for inertial and magnetic sensor fusion are combined to achieve reliable estimation of yaw angle. Experimental tests in a human–robot interaction scenario show the performance of the system.

Citation

Neto, P., Mendes, N. and Moreira, A.P. (2015), "Kalman filter-based yaw angle estimation by fusing inertial and magnetic sensing: a case study using low cost sensors", Sensor Review, Vol. 35 No. 3, pp. 244-250. https://doi.org/10.1108/SR-10-2014-0723