基于低成本硬件的确定性姿态估计算法的实时评估

2021 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE) Pub Date : 2021-11-01 DOI:10.1109/ICMEAE55138.2021.00041

Osberto A. Betanzos-Ramírez, Alejandro Sanchez-Mendoza, J. Guerrero-Castellanos, Lizeth Torres

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引用次数: 0

摘要

本文以实用的方式描述了三种确定性刚体姿态估计算法的实现。为此，使用了三轴加速度计和三轴磁力计以及低成本微控制器。采用MATLAB/Simulink对算法进行了实现。所提出的方法允许快速评估任何确定性算法。然后，它有助于嵌入式实现的后续开发。实验结果验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Evaluation of Deterministic Attitude Estimation Algorithms in Real-Time Using Low-Cost Hardware

This paper describes the implementation of three deterministic algorithms for the attitude estimation of a rigid body in a pragmatic fashion. For that, a tri-axis accelerometer and a tri-axis magnetometer, and a low-cost micro-controller are used. The algorithms implementation is carried out using MATLAB/Simulink. The proposed methodology allows a fast evaluation of any deterministic algorithm. Then, it aids the subsequent development of embedded implementations. Experimental results validate the proposed methodology.

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2021 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)

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