Reinforcement Learning for Orientation Estimation Using Inertial Sensors with Performance Guarantee
- Resource Type
- Conference
- Authors
- Hu, Liang; Tang, Yujie; Zhou, Zhipeng; Pan, Wei
- Source
- 2021 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2021 IEEE International Conference on. :10243-10249 May, 2021
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Estimation error
Magnetometers
Inertial sensors
Quaternions
Reinforcement learning
Solids
Numerical simulation
- Language
- ISSN
- 2577-087X
This paper presents a deep reinforcement learning (DRL) algorithm for orientation estimation using inertial sensors combined with a magnetometer. Lyapunov’s method in control theory is employed to prove the convergence of orientation estimation errors. The estimator gains and a Lyapunov function are parametrised by deep neural networks and learned from samples based on the theoretical results. The DRL estimator is compared with three well-known orientation estimation methods on both numerical simulations and real dataset collected from commercially available sensors. The results show that the proposed algorithm is superior for arbitrary estimation initialisation and can adapt to a drastic angular velocity profile for which other algorithms can be hardly applicable. To the best of our knowledge, this is the first DRL-based orientation estimation method with an estimation error boundedness guarantee.