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Position estimation using inertial sensor (dead reckoning)

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Swapnil Sayan Saha
Swapnil Sayan Saha on 13 Jan 2020
Answered: Brian Fanous on 19 Aug 2020
Is there a filter that takes in 6DOF/9DOF IMU data and outputs position and orientation without requring GPS?

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Swapnil Sayan Saha
Swapnil Sayan Saha on 14 Jan 2020
Could you provide me a matlab resource on determining pose using Kalman filter from orientation and body velocities obtained using imufilter/AHRS?

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Answers (1)

Brian Fanous
Brian Fanous on 19 Aug 2020
Hi Swapril
What your are trying to do is called “dead reckoning” and is not generally recommended with just an accelerometer and gyroscope. There are various detailed descriptions about it on the web, but NXP’s sensor fusion manual describes an experiment in section 2.8 here. If you have other non-GPS sensors that measure position, it’s possible to use the correct method on one of the insfilters to achieve your goal.

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