Sensor fusion

Source: Phil’s Lab

Definition

Combine multiple sensor readings to form an improved estimate of a desired variable.

Why sensor fusion?

• Overcome limitations of individual sensors (noise, uncertainty)
• Estimate quantities that are not directly measurable
  e.g. gyroscope measures angular rates of change but can’t directly measure roll and pitch angle

Fusion in IMU

• Accelerometer only: good estimate in non-accelerating conditions
• Gyroscope only: good estimate over short periods of time (due to integration of bias terms)