| Year of publication |
2011 |
| Category |
Others |
| Subject |
|
| Title |
진자운동과 칼만필터를 이용한 관성측정장치의 보정 |
| Author |
이경호 |
| Journal title |
학위논문(석사) |
| Publication date |
2011.02 |
| Volume & Other data |
|
| Abstract |
MEMS gyros and accelerometers used in low-level IMU have great potential in terms of cost effectiveness provided that their error characteristics are fully calibrated. Instead of conventional calibration process by using the rate table, this paper uses pendulum based calibration. Natural motion of IMU are measured with a highly accurate angle sensor. This data is used to generate the angular rate and acceleration components of the point where the IMU to be calibrated is attached. Using the Extended Kalman Filter with nonlinear pendulum motion data, the pendulum and calibration parameters are estimated. The whole process is validated by comparing the measurement from IMU unit with the ones reconstructed using the calibration data estimated using Extended Kalman Filter. |
| Keywords |
IMU(Inertial Measurement Unit), Calibration, Pendulum, MEMS, Extended Kalman Filter |
| Issn Number |
|
| File |
 이경호_학위논문_진자운동과 칼만필터를 이용한 관성측정장치의 보정.pdf (871.1K) [12] DATE : 2014-06-06 17:24:27 |
