A quaternion-based Complementary Sliding Mode Observer for attitude estimation: Application in free-ranging animal motions

This paper proposes a sensing method using a module of GAM sensors (3-axis Gyroscope, 3-axis Accelerometer, 3-axis Magnetometer) for more accurate measurement of the marine animal's posture. The application in mind is that of Bio-logging. A quaternion-based algorithm is developed through the complementary filtering theory in order to combine all information sources and to obtain an accurate estimation of the attitude. By considering the rigid body kinematic model, a Complementary Sliding Mode Observer (CSMO) is proposed, taking advantages from strapdown inertial measurements and vector observations. The proposed algorithm is based on the multiplicative quaternion correction technique. The performance of the CSMO is shown with a set of preliminary experiments on domestic animals through sensor measurements provided by an Inertial Measurement Unit.

[1]  C. Silvestre,et al.  Discrete time-varying attitude complementary filter , 2009, 2009 American Control Conference.

[2]  Noureddine Manamanni,et al.  A rigid body attitude estimation for Bio-logging application: A quaternion-based nonlinear filter approach , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Robert M. Sanner,et al.  A coupled nonlinear spacecraft attitude controller and observer with an unknown constant gyro bias and gyro noise , 2003, IEEE Trans. Autom. Control..

[4]  Christian Rutz,et al.  New frontiers in biologging science , 2009, Biology Letters.

[5]  Peter L. Tyack,et al.  A digital acoustic recording tag for measuring the response of wild marine mammals to sound , 2003 .

[6]  E. Bongers,et al.  Miniature Wireless Inertial Sensor for Measuring Human Motions , 2007, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[7]  Philippe Martin,et al.  Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors , 2007, 2007 46th IEEE Conference on Decision and Control.

[8]  E.B. Decker,et al.  Marine Mammal Marker (MAMMARK) Dead Reckoning Sensor for In-Situ Environmental Monitoring , 2006, 2006 IEEE/ION Position, Location, And Navigation Symposium.

[9]  Robert E. Mahony,et al.  Nonlinear Complementary Filters on the Special Orthogonal Group , 2008, IEEE Transactions on Automatic Control.

[10]  Angelo M. Sabatini,et al.  Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing , 2006, IEEE Transactions on Biomedical Engineering.

[11]  Noureddine Manamanni,et al.  Nonlinear attitude estimation based on fusion of inertial and magnetic sensors: Bio-logging application , 2009, ICONS.

[12]  Surya P. N. Singh,et al.  Attitude Estimation for Dynamic Legged Locomotion Using Range and Inertial Sensors , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[13]  H. R. Harrison,et al.  Quaternions and Rotation Sequences: a Primer with Applications to Orbits, Aerospace and Virtual Reality , J. B. Kuipers, Princeton University Press, 41 William Street, Princeton, NJ 08540, USA. 1999. 372pp. Illustrated. £35.00. ISBN 0-691-05872-5. , 1999, The Aeronautical Journal (1968).

[14]  M. Shuster.  A survey of attitude representation , 1993 .

[15]  Richard A. Brown,et al.  Introduction to random signals and applied kalman filtering (3rd ed , 2012 .

[16]  Walter Higgins,et al.  A Comparison of Complementary and Kalman Filtering , 1975, IEEE Transactions on Aerospace and Electronic Systems.

[17]  Itzhack Y. Bar-Itzhack,et al.  Quaternion normalization in spacecraft attitude determination , 1992 .

[18]  Noureddine Manamanni,et al.  Posture and body acceleration tracking by inertial and magnetic sensing: Application in behavioral analysis of free-ranging animals , 2011, Biomed. Signal Process. Control..

[19]  G. Wahba.  A Least Squares Estimate of Satellite Attitude , 1965 .

[20]  Noureddine Manamanni,et al.  A Nonlinear Filtering Approach for the Attitude and Dynamic Body Acceleration Estimation Based on Inertial and Magnetic Sensors: Bio-Logging Application , 2011, IEEE Sensors Journal.

[21]  Mohinder S. Grewal,et al.  Global Positioning Systems, Inertial Navigation, and Integration , 2000 .

[22]  Rory P. Wilson,et al.  Prying into the intimate details of animal lives: use of a daily diary on animals , 2008 .