{"title":"Design of Angular Estimator of Inertial Sensor Using the Least Square Method","authors":"Ji Hoon Kim, Hyung Gi Min, Jae Dong Cho, Jae Hoon Jang, Sung-Ha Kwon, Eun Tae Jeung","volume":36,"journal":"International Journal of Mechanical and Mechatronics Engineering","pagesStart":1541,"pagesEnd":1545,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/5116","abstract":"
Since MEMS gyro sensors measure not angle of rotation but angular rate, an estimator is designed to estimate the angles in many applications. Gyro and accelerometer are used to improve estimating accuracy of the angle. This paper presents a method of finding filter coefficients of the well-known estimator which is to get rotation angles from gyro and accelerometer data. In order to verify the performance of our method, the estimated angle is compared with the encoder output in a rotary pendulum system.<\/p>\r\n","references":"[1] Tsach S., Penn D., Levy A., 2002, \"Advanced Technologies and\r\nApproaches for Next Generation UAVs,\" Proceedings of ICAS 2002\r\nCongress, pp. 131.1~131.10.\r\n[2] J.YUH, \"Desing and Control Autonumous Underwater Robots : A\r\nSurvey\", Kluwer Academyc Publishers, Printed in Netherlands,\r\nAutonomous Robots, pp. 7-24,2000.\r\n[3] S. Winkler, M. Buschmann, \"MEMS-based IMU Development,\r\nCalibration and Testing for Autonomous MAV Navigation\", ION 59th\r\nAnnual Meeting, Albuquerque NM, 23-25 June 2003.\r\n[4] W.-K D. H. Titterton, J. L. Weston, \"Strapdown inertial navigation\r\ntechnology,\" Peter Peregrinus Ltd. 1997.\r\n[5] W.-K Sung Hyung Hong, \"Fuzzy logic based closed-loop strapdown\r\nattitude system for unmanned aerial vehicle (UAV),\" Sensors and\r\nActuators A 107(2003) 109-118","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 36, 2009"}