Vehicle 3-D Attitude Determination Using Accelerometers

• Main Author: 周聖雄
• Other Authors: 王立昇
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/27472150751848182635

碩士 === 國立臺灣大學 === 應用力學研究所 === 91 === The main theme of this thesis is to design a 3-D attitude determination algorithm by solely using the measurements from a couple of accelerometers mounted on a vehicle. The idea is based on the fact that, in addition to measure the accelerations of a vehicle, a set of accelerometers in a suitable configuration can be also used to acquire the attitude information. The orthogonal configuration and non-orthogonal configuration are discussed here, along with the complementary orthogonal configuration proposed in this thesis. To deal with the underlying estimation problem, we use the second-order extended Kalman filter. Though the MATLAB simulation and the experimental results, it is shown that the proposed configuration and method can indeed attain the goal of 3-D attitude determination of vehicle.