A Comparative Analysis of Motorcycle Attitude Estimation in a Trajectory Reconstruction Framework

摘要

In this work, we investigate the accuracy of attitude estimation solutions based on inertial/magnetic sensors in the context of motorcycle trajectory reconstruction. We propose a comparative study and analysis of a number of quaternion based attitude-filtering methods. We conduct an experimental study using a multi-sensor platform with a precise ground truth obtained with a GPS RTK. We quantify the error in the motorcycle trajectory estimation obtained with each method and we discuss the obtained results.