A comparison of Bayesian filters for orientation estimation

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dc.creatorPaz, Claudio
dc.creatorPérez Paina, Gonzalo
dc.creatorToloza, Hugo
dc.date.accessioned2025-11-05T19:48:25Z
dc.date.issued2013
dc.description.abstractThis 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
dc.description.affiliationFil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Toloza, Hugo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.formatpdf
dc.identifier.urihttps://hdl.handle.net/20.500.12272/14134
dc.language.isoen
dc.publisherXV Reunio´n de Trabajo en Procesamiento de la Informacion y Control
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internationalen
dc.rights.embargoEnd2013
dc.rights.holderClaudio Paz
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.useAttribution-NonCommercial-NoDerivatives 4.0 International
dc.subjectQuaternions
dc.subjectBayesian Filter
dc.subjectExtended Kalman Filter
dc.subjectUnscented Kalman Filter
dc.subjectParticle Filter
dc.subjectGaussian Particle Filter
dc.subjectInertial Measurement Unit
dc.titleA comparison of Bayesian filters for orientation estimation
dc.typeinfo:eu-repo/semantics/article
dc.type.versionpublisherVersion

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