Volume 10 Number 3(Sept. 2018)
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IJCEE 2018 Vol.10(3): 174-186 ISSN: 1793-8163
DOI: 10.17706/IJCEE.2018.10.3.174-186

Design of a Modified Madgwick Filter for Quaternion-Based Orientation Estimation Using AHRS

Amjed S. Al-Fahoum, Momtaz S. Abadir
Abstract—This paper presents a quaternion-based modified Madgwick filter for real-time estimation of rigid body orientations using attitude and heading reference system (AHRS). The filter consists of a cluster of a tri-axis accelerometer, a tri-axis magnetometer, and a tri-axis angular rate sensor. The proposed filter implementation incorporates gyroscope bias drift compensation. Additionally, an estimated magnetic reference along with low-pass filter are adopted to compensate for the magnetic perturbations. An optimized Levenberg-Marquardt (LM) algorithm is applied to the Whaba’s problem to obtain the body orientations. The hessian matrix of the algorithm was analytically derived to reduce the numerical calculations cost. This algorithm ensures adaptive damped parameter for accurate and fast iterations. The filter performs the calculations of rotations using quaternions rather than Euler angles, which avoids the singularities issue associated with attitude estimation. The accelerometer and magnetometer are calibrated off-line prior to the data fusion process. The magnetometer calibration is made using the ellipsoid fitting technique. Experimental validation of the filter with the actual sensor data proved to be satisfactory. Testing cases included the presence of large dynamics and magnetic perturbation were carried out. In all situations the filter was found to converge and accurately track the rotational motions.

Index Terms—AHRS, madgwick filter, data fusion, inertial measurement units, magnetic distortion, motion capture, Whaba’s problem, Levenberg-Marquardt algorithm.

Amjed S. Al-Fahoum and Momtaz S. Abadir are with School of Engineering Technology, Al Hussein Technical University, Amman, 11831, Jordan.

Cite:Amjed S. Al-Fahoum, Momtaz S. Abadir, "Design of a Modified Madgwick Filter for Quaternion-Based Orientation Estimation Using AHRS," International Journal of Computer and Electrical Engineering vol. 10, no. 3, pp. 174-186, 2018.

General Information

ISSN: 1793-8163
Frequency: Quarterly
Editor-in-Chief: Prof. Yucong Duan
Abstracting/ Indexing: EI (INSPEC, IET), Ulrich's Periodicals Directory, Google Scholar, EBSCO, ProQuest, and Electronic Journals Library
E-mail: ijcee@iap.org

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