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.@en

Inertial measurement units are widely used in different fields to estimate the attitude. Many algorithms have been proposed to improve estimation performance. However, most of them still suffer from 1) inaccurate initial estimation, 2) inaccurate initial filter gain, and 3) non-Gaussian process and/or measurement noise. This paper will leverage reinforcement learning to compensate for the classical extended Kalman filter estimation, i.e., to learn the filter gain from the sensor measurements. We also analyse the convergence of the estimate error. The effectiveness of the proposed algorithm is validated on both simulated data and real data.@en