학술대회논문

실감교류인체감응솔루션연구단의 주요 학술대회 성과를 소개합니다.

Quaternion-Based Orientation Estimation with Static Error Reduction

Quaternion-Based Orientation Estimation with Static Error Reduction
국내/국제 국제 국가명 중국
학술대회명 International Conference on Mechatronics and Automation(ICMA) 2011 개최연월 2011-08

저자 EunHo Seo, ChanSoo Park, Doik Kim, JaeBok Song
초록
Tracking the orientation or attitude of an object has many applications in various research fields. This paper presents a tracking system which estimates the orientation of an object using an angular rate sensor, accelerometer, and magnetometer. For the combined usage of the sensors, the Kalman filter and the Factored Quaternion Algorithm (FQA) are applied to the proposed system. We also propose a method to eliminate the drift effect of the angular rate sensor in static state. The experimental results show that the proposed tracking system can estimate an accurate rotation of an object and can eliminate the drift effect in static state.
키워드 Factored Quaternion Algorithm, Kalman filter

과제명 멀티모달 휴먼 인터페이스 및 양방향 실감교류 기술 개발
연구기관 한국과학기술연구원 연구책임자 김도익