| Summary: | 碩士 === 國立交通大學 === 機械工程系所 === 94 === Typically, there are three ways to measure the attitude of an objection in 3D
space, which are (1) 3-axes gyroscopes and a subsequent integral operation, (2)
3-axes linear accelerometers and 3-axes magnetic sensors, (3) 3-axes linear
accelerometers, 3-axes gyroscopes and 3-axes magnetic sensors. There are
problems and constrains in each approach. Particularly, the first approach suffers from
the error accumulation, the second approach suffers from the sensing accuracy and
the third approach achieves the best performance among all at by employing
expensive gyroscopes components.
In this thesis, we present a novel approach using coplanar gyro-free IMU
accompanied with magnetic sensors for the attitude measurement. The coplanar
gyro-free IMU has the advantages that all the employed sensing devices are situated
in the same plane. Furthermore, it measures angular rates without expensive gyro
components. Simulation results indicated that we can obtain 3 orientation angles with
the measurement accuracy in between the second approach and third approach
mentioned above. Moreover, results also suggest that it is possible to use 6 linear
accelerometers and 2-axes magnetic sensors to obtain 3 orientation angles with some
prior information assumed.
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