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Smart Sensor Magnetometer Based Virtual Gyroscope

Authors:
Baptiste Delporte
Laurent Perroton
Thierry Grandpierre
Jacques Trichet

Keywords: smart sensor; sensor fusion; accelerometer; magnetometer; angular velocity; gyroscope

Abstract:
In this paper, we propose two methods based on quaternions for computing the angles of inclination and the angular velocity with 6 degrees of freedom using the measurements of a 3-axis accelerometer and a 3-axis magnetometer. Each method has singularities which occur during the computation of the orientation of the device in the 3-dimensional space. We propose solutions to avoid these singularities. Experimental results are given to compare our model with a real gyroscope.

Pages: 165 to 170

Copyright: Copyright (c) IARIA, 2011

Publication date: August 21, 2011

Published in: conference

ISSN: 2308-3514

ISBN: 978-1-61208-145-8

Location: Nice/Saint Laurent du Var, France

Dates: from August 21, 2011 to August 27, 2011