Publication detail

Inertial Measurement Unit – Data Fusion and Visualization using MATLAB

BARÁNEK, R.

Original Title

Inertial Measurement Unit – Data Fusion and Visualization using MATLAB

Type

conference paper

Language

English

Original Abstract

The present paper is concerned with the development of an algorithm for the processing of data from gyroscopes and accelerometers such that they together form an attitude sensor. The MATLAB programming environment (only MATLAB in the following) has been chosen for the development of this algorithm. The reason has been the ease with which codes can be created and debugged. With the aid of this programming environment it is also possible to use the not very well known but still simple method of visualizing in real time individual signals from primary sensors as well as the algorithm output, i.e. the sensor attitude in space. One chapter of the paper is therefore devoted to the method of real-time visualization in MATLAB. Signals from the three-axis gyroscope are taken as the primary source of information. A disadvantage of gyroscopes is the incessant small unpredictable change of zero position, which is responsible for the error in attitude determination increasing with time. Using signals from the three-axis accelerometer, the presented algorithm tries to minimize this error. Experimental results for the presented algorithm are given in the paper.

Keywords

Inertial measurement unit, MATLAB, Data fusion, MEMS, Gyroscope, Error correction

Authors

BARÁNEK, R.

RIV year

2012

Released

1. 10. 2012

Publisher

IFAC-PapersOnLine / Elsevier

Location

IFAC-PapersOnLine 10344 Virginia Lee Dr. Centerville, OH 45458, U.S.A.

ISBN

978-3-902823-21-2

Book

Proceedings of the IFAC/IEEE PDES 2012 International Conference

Pages from

12

Pages to

17

Pages count

6

BibTex

@inproceedings{BUT94230,
  author="Radek {Baránek}",
  title="Inertial Measurement Unit – Data Fusion and Visualization using MATLAB",
  booktitle="Proceedings of the IFAC/IEEE PDES 2012 International Conference",
  year="2012",
  pages="12--17",
  publisher="IFAC-PapersOnLine / Elsevier",
  address="IFAC-PapersOnLine
10344 Virginia Lee Dr.
Centerville, OH 45458, U.S.A.",
  isbn="978-3-902823-21-2"
}