Year: 2018
Type: article
Abstract: We demonstrate that the common interpretation of angular velocities measured by a 3D gyroscope as being sequential Euler rotations introduces a systematic error in the sensor orientation calculated during motion tracking. For small rotation angles, this systematic error is relatively small and can be mistakenly attributed to different sources of sensor inaccuracies, including output bias drift, inaccurate sensitivities, and alignments of the sensor sensitivity axes as well as measurement noise. However, even for such small angles, due to accumulation over time, the erroneous rotation interpretation can have a significant negative impact on the accuracy of the computed angular orientation. We confirm our findings using real-case measurements in which the described systematic error just worsens the deleterious effects typically attributed to an inaccurate sensor and random measurement noise. We demonstrate that, in general, significant improvement in the angular orientation accuracy can be achieved if the measured angular velocities are correctly interpreted as simultaneous and not as sequential rotations.
Source: Journal of Sensors
DOI: 10.1155/2018/9684326
Authors: Sara Stančin, Sašo Tomažič
Institution: University of Ljubljana
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $2,830
OpenAlex ID: W2789848590