B6.3 Towards Standalone Attitude Estimation for Instrumented Flow Followers
- SMSI 2021
2021-05-03 - 2021-05-06
- SMSI 2021 - Sensors and Instrumentation
- B6 Flow Measurement
- L. Buntkiel, S. Reinecke - Helmholtz-Zentrum, Dresden (Germany), U. Hampel - Technische Universität Dresden, Dresden (Germany)
- 141 - 142
A concept for 3D-motion tracking of instrumented flow-following sensor particles, equipped with a gyroscope, 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. In this short paper we investigated if the estimated attitude returns to the reference trajectory after experiencing motion similar to a motion that is expected to be found in the multidisperse fluid flows of a biogas fermenter or a waste water treatment basin. Results show the feasibility of the proposed method. However, the strategy of the measurement update in the ESKF needs improvement.