Low-power consumption of orientation estimation using low-cost inertial sensors are crucial for all the applications which resource constrained critically. This paper presents a novel Lightweight quaternion-based Extended Kalman Filter (LEKF) magnetic, angular rate and gravity (MARG) sensors. In this filter, with employing quaternion kinematic equation as process model, we derived simplified me...

We address general filtering problems on the Euclidean group SE(3). We first generalize, to stochastic nonlinear systems evolving on SE(3), the particle filter of Liu and West [17] for simultaneous estimation of the state and covariance. The filter is constructed in a coordinate-invariant way, and explicitly takes into account the geometry of SE(3) and P (n), the space of symmetric positive def...

A large number of attitude estimation algorithms assume sensor placement along the axis of rotation. These models assume that all measured accelerations are due to gravity, while in reality this is not always the case. By expanding the system model to accommodate centrifugal and tangential accelerations the attitude can be more accurately estimated. This thesis introduces an approach to model a...

In this paper we propose an approach to improve the object location accuracy and enable better attitude estimation for wireless locating systems. This method combines the position data of multiple tags placed on an object. The algorithm is independent of the technology used to measure the tags position or the methods of pre-processing the data. The algorithm has been tested experimentally with ...