TY - GEN
T1 - Ultra-miniaturized WB-3 Inertial Measurement Unit
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
AU - Sessa, S.
AU - Zecca, M.
AU - Lin, Z.
AU - Bartolomeo, L.
AU - Itoh, K.
AU - Ishii, H.
AU - Mukaeda, Y.
AU - Suzuki, Y.
AU - Takanishi, A.
PY - 2010
Y1 - 2010
N2 - This paper presents the comparison of the WB-3 ultra-miniaturized inertial measurement unit (EMU), developed by our group, with the commercial EMU IntertiaCube by InterSense and the Vicon motion capture system. WB-3 is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). We implemented an Extended Kalman Filter (EKF) based on quaternion for the sensor fusion to retrieve the attitude. A new methodology for the automatic estimation of the measurement covariance matrix on the EKF is presented (R-Adaptive Algorithm). The preliminary results showed that WB-3 performance is comparable with Vicon. The R-Adaptive Algorithm improves the attitude reconstruction in case of non-static condition compared with the commercial IMU.
AB - This paper presents the comparison of the WB-3 ultra-miniaturized inertial measurement unit (EMU), developed by our group, with the commercial EMU IntertiaCube by InterSense and the Vicon motion capture system. WB-3 is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). We implemented an Extended Kalman Filter (EKF) based on quaternion for the sensor fusion to retrieve the attitude. A new methodology for the automatic estimation of the measurement covariance matrix on the EKF is presented (R-Adaptive Algorithm). The preliminary results showed that WB-3 performance is comparable with Vicon. The R-Adaptive Algorithm improves the attitude reconstruction in case of non-static condition compared with the commercial IMU.
UR - http://www.scopus.com/inward/record.url?scp=79952926455&partnerID=8YFLogxK
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U2 - 10.1109/ROBIO.2010.5723462
DO - 10.1109/ROBIO.2010.5723462
M3 - Conference contribution
AN - SCOPUS:79952926455
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 998
EP - 1003
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -