Novel lightweight quaternion filter for determining orientation based on indications of gyroscope, magnetometer and accelerometer

Abstract

The costume for acquisition of motion is example on MOCAP system based on IMU sensors using fusion of their measurements (like inertial, gyroscopic and magnetic measurements) for estimating motion parameters. In this paper a new simple and efficient fusion algorithm Lightweight Quaternion Filter is developed and implemented for estimation orientation in three dimensions. The result of estimations are compared to implemented Extended Quaternion Kalman Filter algorithm.