Improvement of the Accuracy of the Orientation of an Object by Using a Pair of Rotating IMS

Inertial measurement systems (IMS) belong among navigation systems which permit the monitoring of the position and orientation of an object in three-dimensional space. The functional principle of IMS is based on the integration of the output signal (acceleration and angular rate) of inertial sensors...

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Bibliographic Details
Main Authors: Kajánek Pavol, Kopáčik Alojz
Format: Article
Language:English
Published: Sciendo 2017-12-01
Series:Slovak Journal of Civil Engineering
Subjects:
IMS
Online Access:http://www.degruyter.com/view/j/sjce.2017.25.issue-4/sjce-2017-0020/sjce-2017-0020.xml?format=INT
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spelling doaj-3da28d63580b44c1b6fae553c0feb9f92020-11-25T00:23:28ZengSciendoSlovak Journal of Civil Engineering1210-38961338-39732017-12-01254263310.1515/sjce-2017-0020sjce-2017-0020Improvement of the Accuracy of the Orientation of an Object by Using a Pair of Rotating IMSKajánek Pavol0Kopáčik Alojz1Department of Surveying, Slovak University of Technology, Bratislava, SlovakiaDepartment of Surveying, Slovak University of Technology, Bratislava, SlovakiaInertial measurement systems (IMS) belong among navigation systems which permit the monitoring of the position and orientation of an object in three-dimensional space. The functional principle of IMS is based on the integration of the output signal (acceleration and angular rate) of inertial sensors to the actual position and orientation of IMS. This integration causes the rapid accumulation of systematic IMS’s errors, which leads to a rapid increase in position and orientation errors over time. The paper deals with the design of a prototype for a pair of lowcost IMSs, which are regularly rotated around their vertical axis by stepper motors. To eliminate the systematic errors of gyroscopes in the direction of the rotation axis, two counter-rotating IMSs are used. An optimal model of the data processing was developed and presented.http://www.degruyter.com/view/j/sjce.2017.25.issue-4/sjce-2017-0020/sjce-2017-0020.xml?format=INTControlled rotationIMSGyroscopeSystematic errorEliminationBase.
collection DOAJ
language English
format Article
sources DOAJ
author Kajánek Pavol
Kopáčik Alojz
spellingShingle Kajánek Pavol
Kopáčik Alojz
Improvement of the Accuracy of the Orientation of an Object by Using a Pair of Rotating IMS
Slovak Journal of Civil Engineering
Controlled rotation
IMS
Gyroscope
Systematic error
Elimination
Base.
author_facet Kajánek Pavol
Kopáčik Alojz
author_sort Kajánek Pavol
title Improvement of the Accuracy of the Orientation of an Object by Using a Pair of Rotating IMS
title_short Improvement of the Accuracy of the Orientation of an Object by Using a Pair of Rotating IMS
title_full Improvement of the Accuracy of the Orientation of an Object by Using a Pair of Rotating IMS
title_fullStr Improvement of the Accuracy of the Orientation of an Object by Using a Pair of Rotating IMS
title_full_unstemmed Improvement of the Accuracy of the Orientation of an Object by Using a Pair of Rotating IMS
title_sort improvement of the accuracy of the orientation of an object by using a pair of rotating ims
publisher Sciendo
series Slovak Journal of Civil Engineering
issn 1210-3896
1338-3973
publishDate 2017-12-01
description Inertial measurement systems (IMS) belong among navigation systems which permit the monitoring of the position and orientation of an object in three-dimensional space. The functional principle of IMS is based on the integration of the output signal (acceleration and angular rate) of inertial sensors to the actual position and orientation of IMS. This integration causes the rapid accumulation of systematic IMS’s errors, which leads to a rapid increase in position and orientation errors over time. The paper deals with the design of a prototype for a pair of lowcost IMSs, which are regularly rotated around their vertical axis by stepper motors. To eliminate the systematic errors of gyroscopes in the direction of the rotation axis, two counter-rotating IMSs are used. An optimal model of the data processing was developed and presented.
topic Controlled rotation
IMS
Gyroscope
Systematic error
Elimination
Base.
url http://www.degruyter.com/view/j/sjce.2017.25.issue-4/sjce-2017-0020/sjce-2017-0020.xml?format=INT
work_keys_str_mv AT kajanekpavol improvementoftheaccuracyoftheorientationofanobjectbyusingapairofrotatingims
AT kopacikalojz improvementoftheaccuracyoftheorientationofanobjectbyusingapairofrotatingims
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