Indirect tuning of a complementary orientation filter using velocity data and a genetic algorithm

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dc.contributor.authorMaton, Dariusz
dc.contributor.authorEconomou, John T.
dc.contributor.authorGalvão Wall, David
dc.contributor.authorKhan, Irfan
dc.contributor.authorCooper, Robert
dc.contributor.authorWard, David
dc.contributor.authorTrythall, Simon
dc.date.accessioned2024-05-02T12:56:06Z
dc.date.available2024-05-02T12:56:06Z
dc.date.issued2024-04-23
dc.description.abstractIn this paper, the accuracy of inertial sensor orientation relative to the level frame is improved through optimal tuning of a complementary filter by a genetic algorithm. While constant filter gains have been used elsewhere, these may introduce errors under dynamic motions when gyroscopes should be trusted more than accelerometers. Optimal gains are prescribed by a Mamdani fuzzy rule base whose membership functions are found using a genetic algorithm and experimental data. Furthermore, model fitness is not based directly on orientation but the error between estimated and ground truth velocities. This paper has three interrelated novel elements. The main novelty is the indirect tuning method, which is simple, low-cost and requires a single camera and inertial sensor. The method is shown to increase tracking accuracy compared with popular baseline filters. Secondary novel elements are the bespoke genetic algorithm and the time agnostic velocity error metric. The contributions from this work can help improve the localization accuracy of assets and human personnel. This research has a direct impact in command and control by improving situational awareness and the ability to direct assets to safe locations using safer routes. This results in increasing safety in applications such as firefighting and battlespace.en_UK
dc.description.sponsorshipThis research is funded by the Engineering and Physical Sciences Research Council (EPSRC) iCASE Grant reference EP/S513623/1 and BAE Systems.en_UK
dc.identifier.citationMaton D, Economou JT, Galvão Wall D, et al., (2024) Indirect tuning of a complementary orientation filter using velocity data and a genetic algorithm. Systems Science & Control Engineering, Volume 12, Issue 1, April 2024, Article number 2343303en_UK
dc.identifier.issn2164-2583
dc.identifier.urihttps://doi.org/10.1080/21642583.2024.2343303
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/21308
dc.language.isoen_UKen_UK
dc.publisherTaylor and Francisen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectInertial measurement uniten_UK
dc.subjectorientation filteren_UK
dc.subjectdead reckoningen_UK
dc.subjectgain optimizationen_UK
dc.subjectcomplementary filteren_UK
dc.titleIndirect tuning of a complementary orientation filter using velocity data and a genetic algorithmen_UK
dc.typeArticleen_UK
dcterms.dateAccepted2024-04-09

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