A Novel Approach to Calculating Yaw Angles Using an Accelerometer Sensor

Abstract

An accelerometer can be used to calculate pitch and roll orientation angles. However, the accelerometer sensor cannot calculate the yaw angle, so a novel approach is needed to calculate the yaw angle. This research focuses on designing a new algorithm for calculating yaw orientation angles using an accelerometer sensor. Tests are carried out using the Stewart Platform which is moved rotating on the yaw axis clockwise. The measurement results show that the calculation of the yaw orientation angle using the accelerometer sensor has an average percentage error of 6.42% with the biggest error value at the parameter angle of 60° and the smallest value at the parameter angle of 10°. Based on the measurement of standard deviation, the most precise value at the parameter angle of 30° and the least precise value at parameter angle of 50°. The average standard deviation is 0.45°. The standard deviation value shows that this method has a fairly good precision level so that it is worthy of being used as an alternative measure of yaw angle.