Towards 3D-Motion Tracking of Instrumented Flow Followers in Large Vessels


Towards 3D-Motion Tracking of Instrumented Flow Followers in Large Vessels

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 permanently, even under high acceleration, which interferes the attitude estimation because it is based on measuring the gravitational acceleration. Experimental results show, that using the ESKF for attitude estimation is giving accurate results even under high body acceleration.

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

  • Open Access Logo Contribution to proceedings
    Sensor and Measurement Science International, 22.-25.06.2020, Nürnberg, Deutschland
    SMSI 2020 - Measurement Science, Hannover: AMA Service GmbH, 978-3-9819376-2-6, 309-310
    DOI: 10.5162/SMSI2020/E6.1

Downloads

Permalink: https://www.hzdr.de/publications/Publ-31158
Publ.-Id: 31158