(Universidad Nacional de Río Negro, 2013) Paz, Claudio; Pérez Paina, Gonzalo; Toloza, Hugo
This work presents an empirical study
that compares the performance of Bayesian filters
for orientation estimation using data provided by an
Inertial Measurement Unit. A two-stages measurement update was implemented for different variants
of Kalman and particles filters using quaternions as
orientation representation method. Empirical results
show that all tested algorithms converge to the correct
orientation even if the initial orientation is unknown.
