Abstract
this paper discusses the attitude estimation problem using low cost Micro-Electro-Mechanical System (MEMS) inertial sensors, for which a complementary sensor fusion solution is proposed using the Kalman filter. The system hardware includes three axis gyroscope, accelerometer and magnetometer along with a fixed point DSP controller. The 3-Degrees of freedom (3-DOF) quaternion based algorithm had been initially developed and tested in MATLAB/Simulink. A rapid prototyping approach has been adopted using the MATLAB Real Time Workshop Embedded Coder for direct code generation for the target system. The calibration and testing of the system has been done on a rate table using Real Time Data Exchange (RTDX) for calibrating parameters. The developed system updates at 50Hz with accuracy better than 0.5° which conforms to simulated results.

Fahad Tanveer, Owais Talaat Waheed, Atiq-ur-Rehman. (2011) Design and Development of a Sensor Fusion based Low Cost Attitude Estimator, Journal of Space Technology , Volume 1, Issue 1.
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