A Kalman Filter Based Attitude Heading Reference System Using a Low Cost Inertial Measurement Unit

Leccadito, Matthew

doi:10.2514/6.2015-0604

Cited by 12 publications

(8 citation statements)

References 19 publications

(19 reference statements)

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“…Before transformation, we smoothed the stationary point time series using the same procedure described above for the dragonflies. With a sensor fusion algorithm based on a Kalman filter, we then used the IMU readings to determine the orientation of the camera rig in the stationary reference frame relative to our global gravity vector calculated during initial calibration (Leccadito, 2013). We transformed all points from the stationary reference frame into a global, gravityaligned reference frame.…”

Section: Stereo Rotational Videography and Data Processingmentioning

confidence: 99%

Dragonflies use underdamped pursuit to chase conspecifics

Lohmann

Corcoran

Hedrick

2019

Journal of Experimental Biology

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Pursuit is a common behavior exhibited by animals chasing prey, competitors and potential mates. Because of their speed and maneuverability, dragonflies are frequently studied as a model system for biological pursuit. Most quantitative studies have focused on prey pursuits in captive environments. To determine whether a different pursuit strategy is used when chasing conspecifics of nearly equal speed and agility, we recorded 3D flight trajectories from nine territorial chases between male Erythemis simplicicollis dragonflies in natural field conditions. During chases, dragonflies used an interception strategy with an unusually highmagnitude gain (k=−10.03 s −1 horizontal; −8.86 s −1 vertical) and short time delay (τ=50 ms). The product kτ determines how aggressively a pursuer corrects course to achieve interception. Previous studies of prey pursuit have found kτ values close to −1/e (−0.37), the time-optimal value for achieving pursuit without overshooting. However, we found that dragonflies chasing conspecifics use more negative kτ (−0.50 horizontal; −0.44 vertical), resulting in pursuits with a high degree of overshooting (i.e. moving past the target and alternating position from side to side). We confirmed via simulation that the observed gain and delay produce overshooting. We propose that overshooting is an adaptive feature of conspecific chases that can be achieved with only slight modification of the strategy used for intercepting prey. Overshooting might help avoid potentially damaging collisions while exhibiting the pursuing animal's flight performance and competitive ability. Repeated close approaches might also evoke evasive responses from the other dragonfly, effectively herding the competitor out of the territory.

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Section: Stereo Rotational Videography and Data Processingmentioning

confidence: 99%

Dragonflies use underdamped pursuit to chase conspecifics

Lohmann

Corcoran

Hedrick

2019

Journal of Experimental Biology

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“…In this case, we focused on the low computational complexity, which can work for the standalone mobile HMD. The candidate filters are 1 st complimentary filter [9], Linear Kalman filter (LKF) [10], Extended Kalman Filter (EKF) [10], Unscented Kalman Filter (UKF) [10], and Madgwick filter [11]. The complementary filter computes the results of the different sensors using the weighted sum method, and improves the angle estimation by complementing each characteristic.…”

Section: Optimal Sensor Fusion Algorithmmentioning

confidence: 99%

P‐105: Sensor‐based Latency Reduction Method for Virtual Reality Head Mounted Display

Seo

Choi

Kang

2017

Symp Digest of Tech Papers

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“…To deal with this problem, gyroscopes are introduced into magnetic orientation systems [9][10][11][12][13][14][15]. These studies mainly focus on the sensor fusion algorithms and less analysis is applied to the calibration of sensors.…”

Section: Introductionmentioning

confidence: 99%

Magnetic orientation system based on magnetometer, accelerometer and gyroscope

Chu

Chen

Liu

et al. 2017

CAAI Transactions on Intelligence Technology

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Magnetic orientation systems have widely been used by measuring the earth magnetic field and provide a pervasive source of directional information. However, to obtain the high precision, orientation systems must be compensated prior to use for the various errors of magnetometers such as the bias, misalignment and inconsistence in sensitivity, and the pitch and roll angles, especially in dynamic state. In this study, magnetic orientation system mainly consist of three single-axis magnetometers, a tri-axis accelerometer and a tri-axis gyroscope were developed. An error-separation method was introduced to calibrate magnetometers. Data from magnetometers, accelerometer and gyroscope were fused based on Kalman filtering. In addition, accelerometer and gyroscope were also calibrated before data fusion. Experimental results showed the heading error of magnetic orientation system was about 0.1°in a static state, and <3°in a dynamic state, which proved the effectivities of the calibration methods and data fusion algorithm.

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A Kalman Filter Based Attitude Heading Reference System Using a Low Cost Inertial Measurement Unit

Cited by 12 publications

References 19 publications

Dragonflies use underdamped pursuit to chase conspecifics

Dragonflies use underdamped pursuit to chase conspecifics

P‐105: Sensor‐based Latency Reduction Method for Virtual Reality Head Mounted Display

Magnetic orientation system based on magnetometer, accelerometer and gyroscope

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