基於慣性感測器的姿態與方位量測系統

• Main Authors: Kai-Jie Jhong, 鍾凱傑
• Other Authors: Chun-Cheng Lin
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/794c7u

碩士 === 國立勤益科技大學 === 電機工程系 === 104 === Because of advances in micro-electromechanical technology, inertial sensors including accelerometer, gyroscope and magnetometer sensors have been widely applied in engineering-related applications. In recent years, the fusion of multiple inertial sensors is an important research topic for enhancing the measurement of the attitude and orientation. This study is to improve the accuracy of the attitude and orientation measurement based on a complementary filter and a gradient descent method using quaternion representations to integrate accelerometer, gyroscope and magnetometer sensors. The study results demonstrate that the gradient descent method has higher accuracy than the complementary filter.