Journal of the Semiconductor & Display Technology (반도체디스플레이기술학회지)

The Korean Society Of Semiconductor & Display Technology (한국반도체디스플레이기술학회)
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Attitude Estimation of the Moving Bodies using the Low-Cost MEMS Sensor

저가형 MEMS 센서를 이용한 움직이는 물체의 자세 추정

  • Heo, Oh-Chul (R&D Center, Vatech Ltd.) ;
  • Choi, Goon-Ho (IT & Media Research Center, Korea Univ. of Technology and Education) ;
  • Park, Ki-Heon (School of Information & communication Engineering, SungKyunKwan Univ.)
  • 허오철 ((주)바텍) ;
  • 최군호 (한국기술교육대학교 정보미디어연구소) ;
  • 박기헌 (성균관대학교 정보통신공학부)
  • Received : 2010.05.27
  • Accepted : 2010.06.15
  • Published : 2010.06.30
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Abstract

In this paper we suggest an improvement upon the previous method of estimating a body's attitude. This paper presents a method that overcomes the shortcomings of previous studies. Applying the method of separating the acceleration of gravity component from the accelerometer's output improves the performance of the attitude estimation and extends the scope. In order to apply the method of the attitude estimation in an actively moving body, a new acceleration value containing the acceleration of gravity is calculated. This paper also proposes the method which minimizes the estimation error in estimating the moving body's attitude which is changing rapidly. Finally, this paper suggests a method that detects the gyroscope's drift and compensates for this drift using accelerometer. Applying the method improves the performance of the attitude estimation.

Keywords

References

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