Concept of AHRS algorithm designed for platform independent IMU attitude alignment

• Autorzy: Tomaszewski D. , Rapiński J. , Pelc-Mieczkowska R.

Identyfikatory

DOI

10.1515/rgg-2017-0013

• Języki publikacji: EN

Abstrakty

EN

Nowadays, along with the advancement of technology one can notice the rapid development of various types of navigation systems. So far the most popular satellite navigation, is now supported by positioning results calculated with use of other measurement system. The method and manner of integration will depend directly on the destination of system being developed. To increase the frequency of readings and improve the operation of outdoor navigation systems, one will support satellite navigation systems (GPS, GLONASS ect.) with inertial navigation. Such method of navigation consists of several steps. The first stage is the determination of initial orientation of inertial measurement unit, called INS alignment. During this process, on the basis of acceleration and the angular velocity readings, values of Euler angles (pitch, roll, yaw) are calculated allowing for unambiguous orientation of the sensor coordinate system relative to external coordinate system. The following study presents the concept of AHRS (Attitude and heading reference system) algorithm, allowing to define the Euler angles.The study were conducted with the use of readings from low-cost MEMS cell phone sensors. Subsequently the results of the study were analyzed to determine the accuracy of featured algorithm. On the basis of performed experiments the legitimacy of developed algorithm was stated.

Słowa kluczowe

EN

attitude alignment; AHRS; integrated navigation; GPS/IMU

PL

AHRS; nawigacja zintegrowana; GPS/IMU

• Wydawca: Wydział Geodezji i Kartografii Politechniki Warszawskiej
• Czasopismo: Reports on Geodesy and Geoinformatics
• Rocznik: 2017
• Tom: Vol. 104
• Strony: 33--47
• Opis fizyczny: Bibliogr. 22 poz., rys., wykr.

Twórcy

autor

Tomaszewski D.

• Institute of Geodesy, The Faculty of Geodesy, Geospatial and Civil Engineering, University of Warmia and Mazury in Olsztyn, Oczapowskiego St. 1, 10-719, Olsztyn, Poland

autor

Rapiński J.

• Institute of Geodesy, The Faculty of Geodesy, Geospatial and Civil Engineering, University of Warmia and Mazury in Olsztyn, Oczapowskiego St. 1, 10-719, Olsztyn, Poland

autor

Pelc-Mieczkowska R.

• Institute of Geoinformation and Cartography, The Faculty of Geodesy, Geospatial and Civil Engineering, University of Warmia and Mazury in Olsztyn, Oczapowskiego St. 1, 10-719, Olsztyn, Poland

Bibliografia

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• [8] Henriksson, M. (2013). Estimation of heading using magnetometer and GPS.
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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).