Robust Orientation Estimation with TRIAD-aided Manifold EKF
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866909812925661184 |
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| author | Sadananda, Arjun Banavar, Ravi Arya, Kavi |
| author_facet | Sadananda, Arjun Banavar, Ravi Arya, Kavi |
| contents | The manifold extended Kalman filter (Manifold EKF) has found extensive application for attitude determination. Magnetometers employed as sensors for such attitude determination are easily prone to disturbances by their sensitivity to calibration and external magnetic fields. The TRIAD (Tri-Axial Attitude Determination) algorithm is well known as a sub-optimal attitude estimator. In this article, we incorporate this sub-optimal feature of the TRIAD in mitigating the influence of the magnetometer reading in the pitch and roll axis determination in the Manifold EKF algorithm. We substantiate our results with experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_23456 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Robust Orientation Estimation with TRIAD-aided Manifold EKF Sadananda, Arjun Banavar, Ravi Arya, Kavi Robotics Systems and Control The manifold extended Kalman filter (Manifold EKF) has found extensive application for attitude determination. Magnetometers employed as sensors for such attitude determination are easily prone to disturbances by their sensitivity to calibration and external magnetic fields. The TRIAD (Tri-Axial Attitude Determination) algorithm is well known as a sub-optimal attitude estimator. In this article, we incorporate this sub-optimal feature of the TRIAD in mitigating the influence of the magnetometer reading in the pitch and roll axis determination in the Manifold EKF algorithm. We substantiate our results with experiments. |
| title | Robust Orientation Estimation with TRIAD-aided Manifold EKF |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2509.23456 |