Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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IMU-Barometric Sensor-based Vertical Velocity Estimation Algorithm for Drift-Error Minimization

드리프트 오차 최소화를 위한 관성-기압센서 기반의 수직속도 추정 알고리즘

  • Ji, Sung-In (Dept. of Mechanical Engineering, Hankyong National University) ;
  • Lee, Jung Keun (Dept. of Mechanical Engineering, Hankyong National University)
  • 지성인 (한경대학교 기계공학과) ;
  • 이정근 (한경대학교 기계공학과)
  • Received : 2016.07.05
  • Accepted : 2016.10.06
  • Published : 2016.11.01
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Abstract

Vertical velocity is critical in many areas, such as the control of unmanned aerial vehicles, fall detection, and virtual reality. Conventionally, the integration of GPS (Global Positioning System) with an IMU (Inertial Measurement Unit) was popular for the estimation of vertical components. However, GPS cannot work well indoors and, more importantly, has low accuracy in the vertical direction. In order to overcome these issues, IMU-barometer integration has been suggested instead of IMU-GPS integration. This paper proposes a new complementary filter for the estimation of vertical velocity based on IMU-barometer integration. The proposed complementary filter is designed to minimize drift error in the estimated velocity by adding PID control in addition to a zero velocity update technique.

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References

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