@InProceedings{kubelka-icra2012,
  IS = { zkontrolovano 15 Jan 2013 },
  UPDATE  = { 2012-05-25 },
  author      = {Kubelka, Vladim{\' \i}r and Rein{\v s}tein, Michal},
  title       = {Complementary Filtering Approach to Orientation 
                 Estimation using Inertial Sensors Only},
  year        = {2012},
  pages       = {599-605},
  booktitle   = {ICRA2012: Proceedings of 2012 IEEE International 
                 Conference on Robotics and Automation},
  editor      = { Parker, Lynne },
  publisher   = { Omnipress },
  address     = { Madison, USA },
  isbn        = { 978-1-4673-1405-3 },
  book_pages  = { 5436 },
  month       = {May},
  day         = {14-18},
  venue       = {St. Paul, USA},
  organization = {IEEE Robotics and Automation Society},
  annote = {Precise and reliable estimation of orientation plays
    crucial role for any mobile robot operating in unknown
    environment. The most common solution to determination of the
    three orientation angles: pitch, roll, and yaw, relies on the
    Attitude and Heading Reference System (AHRS) that exploits
    inertial data fusion (accelerations and angular rates) with
    magnetic measurements. However, in real world applications strong
    vibration and disturbances in magnetic field usually cause this
    approach to provide poor results. Therefore, we have devised a new
    approach to orientation estimation using inertial sensors only. It
    is based on modified complementary filtering and was proved by
    precise laboratory testing using rotational tilt platform as well
    as by robot field-testing. In the final, the algorithm well
    outperformed the commercial AHRS solution based on magnetometer
    aiding.},
  keywords    = { Estimation, IIR filters, Low pass filters,
    Position measurement, Sensors, Vibrations },
  prestige =    {important},
  authorship =  {50-50},
  project =     {FP7-ICT-247870 NIFTi},
  www         = {http://www.icra2012.org/},
  doi         = {10.1109/ICRA.2012.6224564},
  ut_isi      = {WOS:000309406700089},
}