Orientation Estimation Using Coplanar Accelerometers and Magnetic Sensors

• Main Authors: Chung-Fu Kao, 高忠福
• Other Authors: Tsung-Lin Chen
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/65975904560698091509

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.