A Robust Incremental-Quaternion-Based Angle and Axis Estimation Algorithm of a Single-Axis Rotation Using MARG Sensors
A Robust Incremental-Quaternion-Based Angle and Axis Estimation Algorithm of a Single-Axis Rotation Using MARG Sensors
复制标题
使用 MARG 传感器的基于增量四元数的鲁棒单轴旋转角度和轴估计算法
DOI：
10.1109/access.2018.2859805
复制
发表时间：
2018
期刊：
影响因子：
3.9
通讯作者：
Lelai Zhou
中科院分区：
文献类型：
--
作者：
Xu X.;Tian X.;Lelai Zhou
本文提出了一种基于增量式四元数的稳健算法来估计不可见或不可达的单轴旋转的角度和轴线。根据增量四元数与旋转轴和旋转角对之间的关系，建立了旋转角和旋转轴的估计模型。此外，本文还详细描述了该模型的求解方法。该算法可以实现全范围的转角和全姿态的转轴测量，具有较高的计算效率。无论被测目标处于动态还是静态运动状态，该方法都具有较好的旋转角度和轴线估计性能，解决了其他方法在目标低速旋转时转轴姿态不准确的问题。该算法利用所设计的基于磁传感器、角速率传感器和重力传感器的测量单元，消除了陀螺仪积分误差对测量结果的影响。通过单轴运动控制平台与另外两种方法的比较，验证了该算法的有效性。结果表明，该算法对旋转角度和单轴高速或低速旋转的轴线有较高的估计精度。
A robust incremental-quaternion-based algorithm is proposed in this paper to estimate the angle and the axis of a single-axis rotation whose rotation axis is invisible or inaccessible. We establish a model to estimate the rotation angle and axis according to the relationship between the incremental quaternion and the pair of rotating axis and angles. Moreover, the solutions for the model are detailedly described in this paper. This algorithm could achieve full range of rotation angle and all-attitude rotation axis measurements with high-computational efficiency. It has good performances in the rotation angle and axis estimation no matter whether the measured target is in dynamic or static movement, which solves the inaccurate rotating-axis attitude problem in other methods when the target is doing low-speed rotation. Using the designed measurement unit based on magnetic, angular rate, and gravity sensors, this algorithm eliminates the drift of measurement results caused by the integral error of the gyroscope. The effectiveness of this algorithm has been validated through a single-axis motion control platform by comparing with another two methods. Results show that the proposed algorithm provides a more accurate estimation of rotation angle and the axis of a single-axis rotation of high or low speed.
登录
查看更多内容
DOI：
10.1109/9780470544334.ch9
发表时间：
2001
期刊：
Comput. Electron. Agric.
影响因子：
--
作者：
T. Başar
通讯作者：
T. Başar
DOI：
10.3390/s110908536
发表时间：
2011
期刊：
Sensors (Basel, Switzerland)
影响因子：
--
作者：
Stančin S;Tomažič S
通讯作者：
Tomažič S
DOI：
10.1109/icassp.2013.6638647
发表时间：
2013-05
期刊：
2013 IEEE International Conference on Acoustics, Speech and Signal Processing
影响因子：
--
作者：
W. W. Li-W.;R. Iltis;M. Win
通讯作者：
W. W. Li-W.;R. Iltis;M. Win
影响因子：
3.8
作者：
Hyuno Kim;Y. Yamakawa;T. Senoo;M. Ishikawa
通讯作者：
Hyuno Kim;Y. Yamakawa;T. Senoo;M. Ishikawa
DOI：
--
发表时间：
2006
期刊：
--
影响因子：
--
作者：
J. Diebel
通讯作者：
J. Diebel