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On Attitude Estimation with Smartphones

Pierre Genevès
Hassen Fourati
Nabil Layaïda


We investigate the precision of attitude estimation algorithms in the particular context of pedestrian navigation with commodity smartphones and their inertial/magnetic sensors. We report on an extensive comparison and experimental analysis of existing algorithms. We focus on typical motions of smartphones when carried by pedestrians. We use a precise ground truth obtained from a motion capture system. We test state-of-the-art attitude estimation techniques with several smartphones, in the presence of magnetic perturbations typically found in buildings. We discuss the obtained results, analyze advantages and limits of current technologies for attitude estimation in this context. Furthermore, we propose a new technique for limiting the impact of magnetic perturbations with any attitude estimation algorithm used in this context. We show how our technique compares and improves over previous works.
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Dates and versions

hal-01376745 , version 1 (05-10-2016)
hal-01376745 , version 2 (13-01-2017)


  • HAL Id : hal-01376745 , version 2


Thibaud Michel, Pierre Genevès, Hassen Fourati, Nabil Layaïda. On Attitude Estimation with Smartphones. IEEE International Conference on Pervasive Computing and Communications, Mar 2017, Kona, United States. ⟨hal-01376745v2⟩
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