N2 - Abstract
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 Earthâ€™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.
JO - Archives of Control Sciences
L1 - http://www.czasopisma.pan.pl/Content/84426/PDF/acsc-2016-0013.pdf
L2 - http://www.czasopisma.pan.pl/Content/84426
IS - No 2
ER -
A1 - Bieda, Robert
A1 - Jaskot, Krzysztof
PB - Committee of Automatic Control and Robotics PAS
JF - Archives of Control Sciences
T1 - Determinig of an object orientation in 3D space using direction cosine matrix and non-stationary Kalman filter
UR - http://www.czasopisma.pan.pl/dlibra/docmetadata?id=84426
DOI - 10.1515/acsc-2016-0013