| Autor: |
Д. В., Бугайов, В. В., Аврутов, О. І., Нестеренко |
| Předmět: |
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| Zdroj: |
Automation of Technological & Business Processes / Avtomatizaciâ Tehnologiceskih i Biznes-Processov; 2020, Vol. 12 Issue 3, p10-19, 10p |
| Abstrakt: |
The article deals with the issues of determining the orientation of objects. The main sources of information for calculating the orientation angles are microelectromechanical sensors, microelectromechanical gyroscope (provides data on angular velocity) and microelectromechanical accelerometer (provides data on gravitational acceleration in stationary mode and overload in motion). But the use of microelectromechanical sensors to determine the orientation and motion parameters in itself is not possible without the use of specialized algorithms for processing the signals obtained from them. The main disadvantage is the "quality" of the received signals, in other words how accurate is the received signal from the sensors and how accurately signal reflects the movement or stationary state of the object. Therefore, the Complementary filter algorithm and the Madgwick filter algorithm were chosen for the orientation determination. Measuring sensors which were used (gyroscopes and accelerometers) are combined into one measuring module, which is the basis for the attitude and heading system of the Inertial Labs company –AHRS-10P. The AHRS-10P is used as a reference system in the study, as it determines the orientation angles of the object on which it is mounted, using the Kalman filter algorithm and have ability simultaneously outputs raw data taken from accelerometers and gyroscopes. As a result of the study, the analytical dependences of the determined pitch angle and roll angle were obtained using the Complementary Filter algorithm and the Madgwick filter algorithm in comparison with the pitch angle and roll angle obtained by the reference system AHRS-10P based on Kalman filter. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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