Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2005.06a
- /
- Pages.1429-1432
- /
- 2005
- /
- 2005-8446(pISSN)
3-Dimensional Attitude Estimation using Low Cost Inertial Sensors and a Magnetic Compass
저가 관성센서와 마그네틱 컴퍼스를 이용한 3차원 자세추정
- Park Sang-Kyeong (Graudate School, UOU) ;
-
Kang Hee-Jun
(UOU)
;
-
Suh Young-Soo
(UOU)
;
-
Kim Han-Sil
(UOU)
;
- Son Young-Duk (HHI)
- Published : 2005.06.01
Abstract
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.
Keywords