A robust orientation estimation algorithm using MARG sensors

Jwu-Sheng Hu, Kuan Chun Sun

Research output: Contribution to journalArticlepeer-review

20 Scopus citations


This paper presents a robust orientation estimation algorithm by using magnetic, angular rate, and gravity sensors. The robustness is achieved by two online methods: compensation of hard iron effect for the magnetometer and separation of the accelerometer signals into gravity projections and linear accelerations. Further, direct cosine matrix is used for the rotation matrix relative to the north, east, down frame. The fusion equations are solved using state-constrained Kalman filter. The simulation and experiment results show the effectiveness of the proposed algorithm in estimating the orientation under acceleration and hard iron influence.

Original languageEnglish
Article number6936377
Pages (from-to)815-822
Number of pages8
JournalIEEE Transactions on Instrumentation and Measurement
Issue number3
StatePublished - 1 Mar 2015


  • 9-D inertial measurement unit (IMU)
  • and gravity (MARG) sensors
  • angular rate
  • direct cosine matrix (DCM)
  • gravity projection
  • magnetic
  • orientation estimation
  • real-time hard iron compensation
  • sensor fusion
  • state-constrained Kalman filter.

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