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Sensor fusion

Sensor fusion: Combining tow or more data source in a way that generates a better understanding of the system Understanding sensor fusion and tracking

Sensor fusion to estimate orientation AHRS: Attitude and Heading Reference System

To describe orientation we need reference frame and specify the rotation in some way:

  • Euler angel : Roll, Pitch, Yaw
  • DCM: Direction Cosine Matrix
  • Quaternion

Dead reckoning

Dead reckoning is a navigation method where you estimate your current position by starting from a known position and integrating motion over time.

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Dead reckoning uses this information:

  • initial position
  • velocity (or distance traveled)
  • direction (orientation)

Then it updates the position step by step.

\[ x_{k+1} = x_k + v_x \, dt $$ $$ y_{k+1} = y_k + v_y \, dt \]

Reference