The system of acquisition and archiving of motion parameters of mobile systems - mathematical methods, digital filters

  • Jakub Grabiński Poznan University of Technology
  • Konrad Waluś Poznan University of Technology
Keywords: Euler's angles, quartered, Kalman filter, Madgwick filter, complementary filter

Abstract

The work presents numerical methods and digital filters that enable correction of the measurement signal obtained during experimental tests of vehicle motion parameters. The inertial navigation measuring module used consists of three-axis accelerometers, gyroscopes made in MEMS technology and a magnetometer. The collected measurement data made it possible to refer them to a point in three-dimensional space in order to determine the trajectory of vehicle movement. The article presents numerical methods of rotation of the local coordinate system to the global system and selected digital filters enabling smoothening the measurement signal in real time.

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Published
2019-02-28
Section
Articles