SLERP-Based Optimal TRIAD Algorithm and Its Applications

• Main Authors: Shu-Wei Chang, 張書瑋
• Other Authors: Fan-Ren Chang
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/98889899587622665484

碩士 === 臺灣大學 === 電機工程學研究所 === 98 === This article discusses an algorithm which is used for attitude determination. Attitude determination describes the trajectory, position, and orientation of vehicles in space. The movements of satellites, space shuttles, or writing instruments have strong relations to attitude determination. However, the accuracy of attitude determination affects the safety or efficiency of vehicles. Thus, the deduction of the algorithm is especially important. With the need for new products recent years, there are a lot of applications and related works, including interactive electronic pen and hand-held instruments used in surgery. TRIAD algorithm, optimized TRIAD algorithm, QUEST, REQUEST, and optimal REQUEST are all in common use for attitude determination. Moreover, with the use of Kalman filter, some of these methods can reduce the error caused by noise. However, some of the algorithm details can be improved to make the process more robust. This article is based on the idea of the optimized TRIAD algorithm. In addition, SLERP and Monte Carlo simulation are introduced for calculation. We name this algorithm as “SLERP-Based Optimal TRIAD Algorithm.” After this algorithm is proposed, the verifications are in line with our expectations through computer simulation. Finally, two experiments are designed to realize the algorithm in reality. This article will detail the relevant background knowledge, algorithm derivation, simulation verification, and experimental results analysis. Besides, there are related formulas in the appendixes.