논문검색

[2018추계] IMU를 사용한 진북 탐색 및 자세 추정

논문저자고낙용․정준혁․정다빈

발행기관한국수중수상로봇기술연구회

간행물명2018년 추계학술대회

발행일

작성언어한국어

키워드IMU, True-North, Attitude, INS, Dead-reckoning

첨부파일 B2-2.pdf

Abstract : This paper describes a true north seeking and attitude estimation method which uses measurements from an
inertial measurement unit. The true north seeking method applies to finding the attitude in north-east-down coordinate frame
relative to true north provides that the inertial measurement unit is stationary in earth fixed coordinate frame. The angular
rate measurement is used both for true north seeking and attitude estimation, and the acceleration is used for true north
seeking. The method is verified through experiments with an inertial measurement unit which is composed of fiber optic
gyroscope and microelectromechanical accelerometer.