A sensor fusion algorithm for an integrated angular position estimation with inertial measurement units

This work presents an orientation tracking system for 6D inertial measurements units. The system was modeled with MathWorks Simulink and experimentally tested with the Cube Demo board by SensorDynamics, used to simulate a 3D gyro and a 3D accelerometer. Quaternions were used to represent the angular position and an Extended Kaiman filter was used for the sensor fusion algorithm. The goal was to obtain an integrated system that could be easily integrated within the logic of the new 6D sensor family produced by SensorDynamics. We propose a Kaiman filter simplification for a fixed point arithmetic implementation to reduce the system complexity with negligible performance degradation.