Determinig of an object orientation in 3D space using direction cosine matrix and non-stationary Kalman filter

• Autorzy: Bieda R. , Jaskot K.

Identyfikatory

DOI

10.1515/acsc-2016-0013

• Języki publikacji: EN

Abstrakty

EN

This paper describes a method which determines the parameters of an object orientation in 3D space. The rotation angles calculation bases on the signals fusion obtained from the inertial measurement unit (IMU). The IMU measuring system provides information from a linear acceleration sensors (accelerometers), the Earth’s magnetic field sensors (magnetometers) and the angular velocity sensors (gyroscopes). Information about the object orientation is presented in the form of direction cosine matrix whose elements are observed in the state vector of the non-stationary Kalman filter. The vector components allow to determine the rotation angles (roll, pitch and yaw) associated with the object. The resulting waveforms, for different rotation angles, have no negative attributes associated with the construction and operation of the IMU measuring system. The described solution enables simple, fast and effective implementation of the proposed method in the IMU measuring systems

Słowa kluczowe

EN

direction cosine matrix; strapdown integration; IMU signals fusion; object orientation

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2016
• Tom: Vol. 26, no. 2
• Strony: 223--244
• Opis fizyczny: Bibliogr. 27 poz., rys., wykr., wzory

Twórcy

autor

Bieda R.

• nstitute of Automatic Control, Silesian University of Technology, Akademicka 16 Street, 44-100 Gliwice, Poland

autor

Jaskot K.

• nstitute of Automatic Control, Silesian University of Technology, Akademicka 16 Street, 44-100 Gliwice, Poland

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę