대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제40권7호
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  • Pages.659-666
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  • 2016
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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9축 관성/자기센서를 이용한 자기교란 및 자세 추정용 병렬 칼만필터

A Parallel Kalman Filter for Estimation of Magnetic Disturbance and Orientation Based on Nine-axis Inertial/Magnetic Sensor Signals

  • 이정근 (한경대학교 기계공학과)
  • Lee, Jung Keun (Dept. of Mechanical Engineering, Hankyong National Univ.)
  • 투고 : 2016.04.07
  • 심사 : 2016.06.07
  • 발행 : 2016.07.01
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초록

자기교란은 관성/자기센서를 이용한 자세추정시 추정정확도를 저하시키는 주된 원인이다. 본 논문은 저자가 개발한 6축 관성센서를 이용한 센서가속도 추정용 칼만필터의 확장으로서, 9축 관성/자기센서를 이용하여 운동체의 자세가 지속적으로 변화하는 가운데 운동체 주변 자기교란을 정확히 추정하고, 이를 통해 자기교란환경에서도 정확한 3차원 자세를 추정할 수 있는 병렬 칼만필터를 제안한다. 제안하는 필터는 자기교란벡터를 상태변수로 지정하여 명시적으로 추정하며, 병렬구조이므로 설령 극심한 자기교란에 의해 자세추정이 영향을 받더라도 롤과 피치와는 무관하고 요에만 영향이 국한되는 장점을 지닌다. 제안방법은 로봇이나 선박, 항공기처럼 자기적으로 균등하지 않은 환경에서 운용되는 분야에 효과적으로 적용될 수 있다.

Magnetic disturbance is one of the main factors that deteriorate the accuracy of orientation estimation methods based on inertial/magnetic sensor signals. This paper proposes a parallel Kalman filter(KF) that explicitly detects magnetic disturbances and thus can accurately estimate 3D orientation in magnetically disturbed environments. Due to the parallel nature of the proposed KF, even severe magnetic disturbances only affect yaw estimation, while roll and pitch values remain accurate. Consequently, the proposed KF can be effectively used in various applications that involve magnetically inhomogeneous environments, such as robots, ships, and planes.

키워드

참고문헌

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