Open AccessImprovement of the Accuracy of the Orientation of an Object by Using a Pair of Rotating IMS
Author(s) -
Pavol Kajánek,
Alojz Kopáčik
Publication year - 2017
Publication title -
slovak journal of civil engineering
Language(s) - English
Resource type - Journals
eISSN - 1338-3973
pISSN - 1210-3896
DOI - 10.1515/sjce-2017-0020
Subject(s) - orientation (vector space) , gyroscope , rotation (mathematics) , position (finance) , inertial frame of reference , stepper , computer science , inertial measurement unit , acceleration , angular displacement , object (grammar) , control theory (sociology) , computer vision , acoustics , engineering , artificial intelligence , physics , optics , mathematics , geometry , aerospace engineering , finance , control (management) , classical mechanics , quantum mechanics , economics
Inertial measurement systems (IMS) belong among navigation systems which permit the monitoring of the position and orientation of an object in three-dimensional space. The functional principle of IMS is based on the integration of the output signal (acceleration and angular rate) of inertial sensors to the actual position and orientation of IMS. This integration causes the rapid accumulation of systematic IMS’s errors, which leads to a rapid increase in position and orientation errors over time. The paper deals with the design of a prototype for a pair of lowcost IMSs, which are regularly rotated around their vertical axis by stepper motors. To eliminate the systematic errors of gyroscopes in the direction of the rotation axis, two counter-rotating IMSs are used. An optimal model of the data processing was developed and presented.
Accelerating Research
Robert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom
Address
John Eccles HouseRobert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom