Fusión de SLAM Monocular y Sensores Inerciales para Estimación de la Orientación (Attitude Estimation using Fusion of Monocular SLAM and Inertial Sensors)

Carlos Vianchada Estevez (cvianchada@inaoep.mx)1, Ponciano Jorge Escamilla Ambrosio (pjorgeea@googlemail.com)2, Mariana Natalia Ibarra Bonilla (mariana_ibarra@inaoep.mx)1, Juan Manuel Ramirez Cortes (jmram@inaoep.mx)1, Pilar Gomez Gil (pgomez@inaoep.mx)1

1Instituto Nacional de Astrofísica, Optica y Electrónica
2Instituto Politecnico Nacional

This paper appears in: Revista IEEE América Latina

Publication Date: Sept. 2014
Volume: 12,   Issue: 6 
ISSN: 1548-0992

This paper presents a novel technique on attitude estimation based on fusion of orientation measurements obtained from monocular SLAM (Simultaneous Localization and Mapping) and inertial sensors, using an Extended Kalman filter as sequential estimator. The development of the Attitude and Heading Reference System (AHRS) is described in detail. Information obtained independently from the two systems is combined using two approaches for comparison purposes: an augmented observation vector, and a minimum quadratic mean estimator. The Kalman filter prediction procedure is carried out in a single block, improved by including the estimation of the fused state using a modified track to track approach. A comparison on system performance, before and after the described sensor fusion methods, is presented.

Index Terms:
Kalman filter, sensors fusion, quaternions, Euler angles, simultaneous localization and mapping, SLAM, attitude, navigation.   

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