Probabilistic modeling for sensor fusion with inertial measurements (2016)
Abstract / truncated to 115 words
In recent years, inertial sensors have undergone major developments. The quality of their measurements has improved while their cost has decreased, leading to an increase in availability. They can be found in stand-alone sensor units, so-called inertial measurement units, but are nowadays also present in for instance any modern smartphone, in Wii controllers and in virtual reality headsets. The term inertial sensor refers to the combination of accelerometers and gyroscopes. These measure the external specific force and the angular velocity, respectively. Integration of their measurements provides information about the sensor’s position and orientation. However, the position and orientation estimates obtained by simple integration suffer from drift and are therefore only accurate on a short time ... toggle 10 keywordsinertial sensors – sensor fusion – magnetometers – ultra-wideband – localization – calibration – motion capture – signal processing – gaussian processes – magnetic field localization
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