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Concept of AHRS algorithm designed for platform independent IMU attitude alignment / Dariusz Tomaszewski in Reports on geodesy and geoinformatics, vol 104 n° 1 (December 2017)  

Public [article]  inReports on geodesy and geoinformatics > vol 104 n° 1 (December 2017) . - pp 33 - 47 Titre : Concept of AHRS algorithm designed for platform independent IMU attitude alignment Type de document : Article/Communication Auteurs : Dariusz Tomaszewski, Auteur ; Jacek Rapinski, Auteur ; Renata Pelc-Mieczkowska, Auteur Année de publication : 2017 Article en page(s) : pp 33 - 47 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] accélération [Termes IGN] angle d'Euler [Termes IGN] attitude and heading reference system AHRS [Termes IGN] centrale inertielle [Termes IGN] instabilité du vecteur (télédétection) [Termes IGN] système de coordonnées [Termes IGN] téléphone intelligent Résumé : (Auteur) Nowadays, along with the advancement of technology one can notice the rapid development of various types of navigation systems. So far the most popular satellite navigation, is now supported by positioning results calculated with use of other measurement system. The method and manner of integration will depend directly on the destination of system being developed. To increase the frequency of readings and improve the operation of outdoor navigation systems, one will support satellite navigation systems (GPS, GLONASS ect.) with inertial navigation. Such method of navigation consists of several steps. The first stage is the determination of initial orientation of inertial measurement unit, called INS alignment. During this process, on the basis of acceleration and the angular velocity readings, values of Euler angles (pitch, roll, yaw) are calculated allowing for unambiguous orientation of the sensor coordinate system relative to external coordinate system. The following study presents the concept of AHRS (Attitude and heading reference system) algorithm, allowing to define the Euler angles. The study were conducted with the use of readings from low-cost MEMS cell phone sensors. Subsequently the results of the study were analyzed to determine the accuracy of featured algorithm. On the basis of performed experiments the legitimacy of developed algorithm was stated. Numéro de notice : A2017-794 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1515/rgg-2017-0013 En ligne : https://doi.org/10.1515/rgg-2017-0013 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=89071 [article]