@INPROCEEDINGS{8409593,
author={L. Wöhle and M. Gebhard},
booktitle={2018 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)},
title={A robust quaternion based Kalman filter using a gradient descent algorithm for orientation measurement},
year={2018},
volume={},
number={},
pages={1-6},
keywords={accelerometers;angular measurement;gradient methods;gyroscopes;Kalman filters;magnetic field measurement;magnetic sensors;magnetometers;MARG sensor;sensor fusion algorithm;magnetic disturbance;triaxis accelerometer;triaxis magnetometer;accelerometer;gyroscope;magnetic angular rate gravity-sensors;robust quaternion based Kalman filter approach;gradient descent filter stage algorithm;GDA;KFF;IMU equations;GDFS algorithm;orientation measurement;gradient descent algorithm;robust orientation estimation;Quaternions;Magnetometers;Estimation;Kalman filters;Magnetic sensors;Gyroscopes;sensor fusion;orientation estimation;magnetic disturbances;gradient descent algorithm;Kalman filter},
doi={10.1109/I2MTC.2018.8409593},
ISSN={},
month={May},}