IMU 장착 위치를 고려한 레버암 상태 추정을 이용한 자세 결정 성능 개선

Abstract

This paper describes the enhanced algorithm of attitude determination by employing lever arm in the system of the attitude determination based on IMU (inertial measurement unit) sensor. A lever arm is the distance between the center of gravity and the mounting position of IMU. IMU consists of accelerometers and rate gyro, which are affected by angular acceleration. Therefore the performance of the attitude determination can be improved by considering the effect of non-zero lever arm. The estimation filer is composed of the quaternion approach. In order to evaluate the proposed algorithm, both of the simulation and the experiment are performed for the simplified scenario of motion.gravity and the mounting position of IMU. IMU consists of accelerometers and rate gyro, which are affected by angular acceleration. Therefore the performance of the ttitude determination can be improved by considering the effect of non-zero lever arm. The estimation filer is composed of the quaternion approach. In order to evaluate the proposed algorithm, both of the simulation and the experiment are performed for the simplified scenario of motion.