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Attitude Estimation of the Moving Bodies using the Low-Cost MEMS Sensor  

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.)
Publication Information
Journal of the Semiconductor & Display Technology / v.9, no.2, 2010 , pp. 41-47 More about this Journal
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
Attitude Estimation; Kalman Filter; MEMS Sensor;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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