5 research outputs found
Demonstration and Supplementation of the preceding Perspectives on Decoding Hyangchal(ๆฌก)
Quaternion-based AHRS Improved by Inertial Sensor Bias Compensation
์์ธ ๋ฐ ๋ฐฉ์ ๊ฒฐ์ ์์คํ
(AHRS)์ ์์ด๋ก ๋ฐ์ด์ด์ค๋ฅผ ์ถ์ ํ๊ธฐ ์ํ์ฌ ๊ฐ์๋๊ณ ์ผ์์ ์ง์๊ธฐ
์ผ์๋ฅผ ์ด์ฉํ๋ค. ์ ๊ฐ์ MEMS ๊ฐ์๋๊ณ์ ๊ฒฝ์ฐ ๋ฐ์ด์ด์ค ์์ ๋๋ ๋ฎ์ ๋ฟ๋ง ์๋๋ผ ์์ญ mg ์ ์ด๊ธฐ
์ค์ฐจ๋ฅผ ๊ฐ์ง๋ค. ์ด๋ฌํ ๊ฐ์๋๊ณ ๋ฐ์ด์ด์ค ์ค์ฐจ๋ ์ ๊ฐ MEMS ์ผ์๋ก ๊ตฌ์ฑ๋ AHRS ์ ์์ธ ์ ํ๋๋ฅผ
๊ฐ์์ํจ๋ค. ๋ณธ ๋
ผ๋ฌธ์์๋ ์์ด๋ก ๋ฐ์ด์ด์ค๋ฟ๋ง ์๋๋ผ ๊ฐ์๋๊ณ ๋ฐ์ด์ด์ค๋ฅผ ์ค์๊ฐ ์ถ์ ํจ์ผ๋ก์จ
์์ธ ๋ฐ ๋ฐฉ์๊ฐ์ ์ ํ๋๋ฅผ ํฅ์์ํค๋ ์ฟผํฐ๋์ธ ๊ธฐ๋ฐ ํ์ฅ์นผ๋งํํฐ ์๊ณ ๋ฆฌ๋ฌ์ ์ ์ํ๊ณ ,
์๋ฎฌ๋ ์ด์
์ ํตํด ์ ์๋ ์๊ณ ๋ฆฌ๋ฌ์ ์ฑ๋ฅ์ ๊ฒ์ฆํ๋ค.Attitude Heading Reference System (AHRS) uses accelerometer and magnetic sensor to compensate gyro bias. A lowcost
MEMS grade accelerometer has tens of mg of initial bias as well as low in-run bias stability. This uncorrected
initial bias of accelerometer is the main factor to reduce the accuracy of AHRS consisted of MEMS grade inertial
sensors. This paper describes the quaternion-based extended Kalman filter algorithm to improve the attitude accuracy
by estimating gyro and accelerometer bias together. Simulation results verify the performance of the proposed method.OAIID:oai:osos.snu.ac.kr:snu2012-01/104/0000003405/14SEQ:14PERF_CD:SNU2012-01EVAL_ITEM_CD:104USER_ID:0000003405ADJUST_YN:NEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:์กฐ์_์ค์ ์๋ฃ_2012KSAS์ถ๊ณ.pdfDEPT_NM:๊ธฐ๊ณํญ๊ณต๊ณตํ๋ถEMAIL:[email protected]: