A comparison of Bayesian filters for orientation estimation
Date
2013
Journal Title
Journal ISSN
Volume Title
Publisher
XV Reunio´n de Trabajo en Procesamiento de la Informacion y Control
Abstract
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 measure ment 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
Description
Keywords
Quaternions, Bayesian Filter, Extended Kalman Filter, Unscented Kalman Filter, Particle Filter, Gaussian Particle Filter, Inertial Measurement Unit
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