title: Cascaded Kalman and particle filters for photogrammetry based gyroscope drift and robot attitude estimation.
abstract: Based on a cascaded Kalman-Particle Filtering, gyroscope drift and robot attitude estimation method is proposed in this paper. Due to noisy and erroneous measurements of MEMS gyroscope, it is combined with Photogrammetry based vision navigation scenario. Quaternions kinematics and robot angular velocity dynamics with augmented drift dynamics of gyroscope are employed as system state space model. Nonlinear attitude kinematics, drift and robot angular movement dynamics each in 3 dimensions result in a nonlinear high dimensional system. To reduce the complexity, we propose a decomposition of system to cascaded subsystems and then design separate cascaded observers. This design leads to an easier tuning and more precise debugging from the perspective of programming and such a setting is well suited for a cooperative modular system with noticeably reduced computation time. Kalman Filtering (KF) is employed for the linear and Gaussian subsystem consisting of angular velocity and drift dynamics together with gyroscope measurement. The estimated angular velocity is utilized as input of the second Particle Filtering (PF) based observer in two scenarios of stochastic and deterministic inputs. Simulation results are provided to show the efficiency of the proposed method. Moreover, the experimental results based on data from a 3D MEMS IMU and a 3D camera system are used to demonstrate the efficiency of the method.
authors.affiliation: Department of Electrical Engineering, Iran University of Science and Technology, 1684613114, Tehran, Iran; Automation Laboratory, University of Heidelberg, 68131 Mannheim, Germany. Electronic address: nargess.sadeghzadeh@ziti.uni-heidelberg.de.
authors.forename: Nargess
authors.initials: N
authors.lastname: Sadaghzadeh N
authors.affiliation: Department of Electrical Engineering, Iran University of Science and Technology, 1684613114, Tehran, Iran. Electronic address: jposhtan@iust.ac.ir.
authors.forename: Javad
authors.initials: J
authors.lastname: Poshtan
authors.affiliation: Automation Laboratory, University of Heidelberg, 68131 Mannheim, Germany. Electronic address: achim.wagner@ziti.uni-heidelberg.de.
authors.forename: Achim
authors.initials: A
authors.lastname: Wagner
authors.affiliation: Automation Laboratory, University of Heidelberg, 68131 Mannheim, Germany.
authors.forename: Eugen
authors.initials: E
authors.lastname: Nordheimer
authors.affiliation: Automation Laboratory, University of Heidelberg, 68131 Mannheim, Germany. Electronic address: baddredin@ziti.uni-heidelberg.de.
authors.forename: Essameddin
authors.initials: E
authors.lastname: Badreddin
mesh_terms: D000465:Algorithms; D001696:Biomechanical Phenomena; D003198:Computer Simulation; D004867:Equipment Design; D013502:General Surgery / Q000295:instrumentation; D015233:Models, Statistical; D016011:Normal Distribution; D010780:Photogrammetry / Q000379:methods* / Q000706:statistics & numerical data; D012371:Robotics / Q000379:methods* / Q000706:statistics & numerical data; D013269:Stochastic Processes
keywords: Attitude estimation; Cascaded decomposition; Kalman filtering; Large scale systems; MEMS gyroscope; Particle filtering; Photogrammetry; Sensor fusion; Sensor soft fault; Vision navigation