E6.1 Towards 3D-Motion Tracking of Instrumented Flow Follow-ers in Large Vessels
- SMSI 2020
(did not take place because of Covid-19 virus pandemic)
- SMSI 2020 - Measurement Science
- E6 Applied Measurement Science
- L. Buntkiel, S. Reinecke, U. Hampel - Helmholtz-Zentrum, Dresden-Rossendorf (HZDR), Dresden (Germany)
- 309 - 310
A concept for 3D-motion tracking of instrumented flow-following sensor particles, equipped with a gyro-scope, 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.