Abstract
this paper discusses the attitude estimation
problem using low cost Micro-Electro-Mechanical System
(MEMS) inertial sensors, for which a complementary sensor
fusion solution is proposed using the Kalman filter. The
system hardware includes three axis gyroscope, accelerometer
and magnetometer along with a fixed point DSP controller.
The 3-Degrees of freedom (3-DOF) quaternion based
algorithm had been initially developed and tested in
MATLAB/Simulink. A rapid prototyping approach has been
adopted using the MATLAB Real Time Workshop Embedded
Coder for direct code generation for the target system. The
calibration and testing of the system has been done on a rate
table using Real Time Data Exchange (RTDX) for calibrating
parameters. The developed system updates at 50Hz with
accuracy better than 0.5° which conforms to simulated results.
Fahad Tanveer, Owais Talaat Waheed, Atiq-ur-Rehman. (2011) Design and Development of a Sensor Fusion based Low Cost Attitude Estimator, Journal of Space Technology , Volume 1, Issue 1.
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