NDLI: Design and implementation of MARG sensors for 3-DOF orientation measurement of rigid bodies

Content Provider	IEEE Xplore Digital Library
Author	Bachmann, E.R. Xiaoping Yun McKinney, D. McGhee, R.B. Zyda, M.J.
Copyright Year	2003
Description	Author affiliation: Dept. of Comput. Sci. & Syst. Anal., Miami Univ., Oxford, OH, USA (Bachmann, E.R.)
Abstract	This presents the latest design and implementation of the magnetic, angular rate, and gravity (MARG) sensor module. The MARG sensor module is designed for measuring 3-DOF orientations in real time without singularities. Each MARG sensor contains orthogonally mounted triads of micromachined rate sensors, accelerometers, and magnetometers for a total of nine sensor components. With an integrated microcontroller, the overall factor is less than one cubic inch. Digital data output rate is 100 Hz. To simplify calibration procedures and filtering algorithms, it is important that the response of the individual sensor components is linear within the typical operating regions. Experiments were conducted utilizing a precision tilt table and results indicate that all the sensor components are linear. A simple hand calibration method that requires no specialized equipment is also described. It was validated by experiments that indicate hand calibration produces results that are nearly equivalent to those obtained following precision tilt table calibration.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	1171
Ending Page	1178
File Size	531208
Page Count	8
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241751
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Position measurement Magnetic sensors Tracking Accelerometers Magnetometers Calibration Magnetic field measurement Gravity Filtering algorithms Virtual reality
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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