한국측량학회:학술대회논문집 (Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference)
- 한국측량학회 2004년도 춘계학술발표회논문집
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- Pages.59-64
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- 2004
AHRS을 이용한 자세결정과 Heading 산출을 위한 연구
The Study for attitude determination and heading production using AHRS
초록
In this paper, the error compensation method of the low-cost IMU is proposed. In general, the position and attitude error calculated by accelerometers and gyros grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound accelerometer mixing algorithm and the heading angle can be aided by single antenna GPS velocity. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated by Attitude Heading Reference System with Micro Electro Mechanical System for a basis
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