한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2005년도 춘계학술대회 논문집
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- Pages.1429-1432
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- 2005
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- 2005-8446(pISSN)
저가 관성센서와 마그네틱 컴퍼스를 이용한 3차원 자세추정
3-Dimensional Attitude Estimation using Low Cost Inertial Sensors and a Magnetic Compass
- Park Sang-Kyeong (Graudate School, UOU) ;
- Kang Hee-Jun (UOU) ;
- Suh Young-Soo (UOU) ;
- Kim Han-Sil (UOU) ;
- Son Young-Duk (HHI)
- 발행 : 2005.06.01
초록
This work is towards the development of a low-cost, small-sized inertial navigation system(INS) which consists of 3 accelerometers, 3 semiconductor gyros and a magnetic compass sensor. This paper explains in detail the structure of the developed system and proposes a 3 dimensional attitude estimation algorithm with Indirect Kalman Filter. The experiments are performed with the developed system attached to a 6 DOF robot for showing the effectiveness of the algorithm.
키워드