Angle estimation of simultaneous orthogonal rotations from 3D gyroscope measurements.
Angle estimation of simultaneous orthogonal rotations from 3D gyroscope measurements.
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DOI：
10.3390/s110908536
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Tomažič S
中科院分区：
文献类型：
--
作者：
Stančin S;Tomažič S
3D陀螺仪提供围绕其三个固有正交轴的角速度的测量，从而实现角取向估计。因为测得的角速度代表同时的旋转，所以不适合顺序考虑它们。旋转一般是不可交换的，并且每个可能的旋转序列具有不同的结果角取向。这些角度方向都不是正确的同时旋转结果。然而，每一个角取向都可以由单个旋转来表示。本文给出了当被测角速度或它们的比例近似为常数时，绕正交轴的三个同时转动所等效的单次转动的轴和角度的解析推导。基于所得到的表达式，定义了称为同时正交旋转角（索拉）的向量，其分量等于围绕坐标系轴的三个同时旋转的角度。该矢量的方向和大小分别等于等效的单个旋转轴和角度。只要实际旋转轴的取向是恒定的，给定索拉，刚体的角取向可以在单个步骤中计算，从而使得可以避免计算迭代的无穷小旋转近似。所进行的试验测量证实了索拉概念的有效性。索拉是简单的，并且非常适合用于基于使用陀螺仪导出的角速度测量的角取向的实时计算。此外，由于其被证明的简单性，索拉也可以用于一般的角取向符号。
A 3D gyroscope provides measurements of angular velocities around its three intrinsic orthogonal axes, enabling angular orientation estimation. Because the measured angular velocities represent simultaneous rotations, it is not appropriate to consider them sequentially. Rotations in general are not commutative, and each possible rotation sequence has a different resulting angular orientation. None of these angular orientations is the correct simultaneous rotation result. However, every angular orientation can be represented by a single rotation. This paper presents an analytic derivation of the axis and angle of the single rotation equivalent to three simultaneous rotations around orthogonal axes when the measured angular velocities or their proportions are approximately constant. Based on the resulting expressions, a vector called the simultaneous orthogonal rotations angle (SORA) is defined, with components equal to the angles of three simultaneous rotations around coordinate system axes. The orientation and magnitude of this vector are equal to the equivalent single rotation axis and angle, respectively. As long as the orientation of the actual rotation axis is constant, given the SORA, the angular orientation of a rigid body can be calculated in a single step, thus making it possible to avoid computing the iterative infinitesimal rotation approximation. The performed test measurements confirm the validity of the SORA concept. SORA is simple and well-suited for use in the real-time calculation of angular orientation based on angular velocity measurements derived using a gyroscope. Moreover, because of its demonstrated simplicity, SORA can also be used in general angular orientation notation.
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DOI：
10.3390/s110201721
发表时间：
2011
期刊：
Sensors (Basel, Switzerland)
影响因子：
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作者：
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Sensors (Basel, Switzerland)
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2002-12-01
影响因子：
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