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In this paper, a smoothing algorithm for compensating inertial sensor saturation is proposed. The sensor saturation happens when a sensor measures a value that is larger than its dynamic range. This can lead to a considerable accumulated error. To compensate the lost information in saturated sensor data, we propose a smoothing algorithm in which the saturation compensation is formulated as an optimization problem. Based on a standard smoothing algorithm with zero velocity intervals, two saturation estimation methods were proposed. Simulation and experiments prove that the proposed methods are effective in compensating the sensor saturation.

Sensor Saturation Compensated Smoothing Algorithm for Inertial Sensor Based Motion Tracking