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Towards standalone attitude estimation for instrumented flow followers

Buntkiel, L.; Reinecke, S.; Hampel, U.

A concept for 3D-motion tracking of instrumented flow-following sensor particles, equipped with a gyroscope, accelerometer, magnetometer and pressure sensor, has been developed. Consisting of an error state Kalman filter (ESKF) the algorithm can track the attitude of the sensor particle in relation to a reference coordinate system. In this short paper we investigated if the estimated attitude returns to the reference trajectory after experiencing motion similar to a motion that is expected to be found in the multidisperse fluid flows of a biogas fermenter or a waste water treatment basin. Results show the feasibility of the proposed method. However, the strategy of the measurement update in the ESKF needs improvement.

Keywords: error state kalman filter; motion tracking; fluid dynamics; sensor particle; soft sensor

  • Open Access Logo Contribution to proceedings
    Sensor and Measurement Science International 2021, 03.-06.05.2021, Online, Deutschland
    SMSI 2021 - Sensors and Instrumentation, Wunstorf: AMA Service GmbH, 978-3-9819376-4-0, 141-142
    DOI: 10.5162/SMSI2021/B6.3

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Permalink: https://www.hzdr.de/publications/Publ-32610
Publ.-Id: 32610