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논문 기본 정보

자료유형
학술저널
저자정보
손재훈 (Department of Electronics Engineering, Chungnam National University, Daejeon 34134, Korea) 이상윤 (IN Center, Microinfinity Co., Ltd., Daejeon 34012, Korea) 김효석 (IN Center, Microinfinity Co., Ltd., Daejeon 34012, Korea) 황동환 (Department of Electronics Engineering, Chungnam National University, Daejeon 34134, Korea)
저널정보
사단법인 항법시스템학회 Journal of Positioning, Navigation, and Timing Journal of Positioning, Navigation, and Timing Vol.13 No.3
발행연도
2024.9
수록면
237 - 244 (8page)
DOI
10.11003/JPNT.2024.13.3.237

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초록· 키워드

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An Attitude and Heading Reference System (AHRS) provides the attitude of a vehicle with a constant velocity using an Inertial Measurement Unit (IMU) and a magnetometer. In this case, in order to avoid the disadvantage of a gyroscope, an AHRS using a Gyro-Free IMU (GF-IMU) that is composed of only accelerometers may be considered instead of the gyroscopes. In this paper, a design method of an AHRS using a GF-IMU is proposed. The proposed AHRS consists of roll and pitch calculation, yaw calculation, angular acceleration and angular velocity calculation, attitude calculation, and a Kalman filter. In particular, since the angular velocity cannot be measured from a gyroscope, the angular acceleration is obtained from the accelerometer output, and the angular velocity is calculated by integrating it. In order to show the usefulness of the proposed method, a performance evaluation was carried out. The performance evaluation results show that the attitude estimation performance of the proposed AHRS is similar to that of the conventional AHRS.

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