Estimation of IMU orientation using Nesterov’s accelerated gradient improved by fuzzy control rule

Abstract

The application fields put forward higher requirements for the core technology of inertial measurement unit, namely orientation estimation. Generally, estimation of inertial measurement unit orientation is carried out by the fusion of different sensors including geomagnetic sensor and motion sensor, but in some specific environments, the field of magnetic is chaotic and inertial measurement unit itself has the interference of acceleration, orientation estimation algorithm for inertial measurement unit is required to have higher accuracy and stronger robustness. In this work a new approach is presented for estimation of inertial measurement unit orientation. The approach is based on inertial measurement unit containing gyroscope, accelerometer and magnetometer, and a fusion algorithm using Nesterov’s accelerated gradient improved by fuzzy control rule is conducted to estimate inertial measurement unit orientation. Magnetometer is used for measuring the yaw angle, whereas gyroscope, accelerometer provide information for roll and pitch angles. The experimental platform is constructed using motion sensor MPU6050 and magnetometer IST8310, the accuracy and robustness of this approach using Nesterov’s accelerated gradient improved by fuzzy control rule are vertified by four groups of comparative experiments. Experimental results indicate that compared with complementary filter and gradient descent, this approach shows an improvement in estimation of inertial measurement unit orientation.