Highly Accurate Accelerometer- and Magnetometer-based Elevation and Azimuth Estimation Procedure Under Stationary Conditions
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A nine-axis inertial measurement unit (IMU) consisting of a three-axis gyroscope, three-axis accelerometer, and three-axis magnetometeris used to estimate the 3D orientation of a moving object, including the elevation and azimuth. Under stationary conditions,where dynamic or magnetic disturbances are negligible, orientation estimation is a determined problem in which theaccuracy of the elevation and azimuth depends only on sensor errors. Conventionally, sensor calibration using the 3D rotation ofthe sensor has been performed to improve the elevation/azimuth error by compensating for sensor errors. However, for a one-axisrotation system, such as a servo motor that permits only single-axis rotation, conventional 3D sensor calibration cannot be applied. Additionally, when rotating the elevation/azimuth with a motor, a difference may occur between the target axis of the referencecoordinate system and the motor rotation axis, which may cause inaccuracies in the elevation/azimuth. In this paper, we proposea procedure for highly accurately estimating elevation and azimuth based on accelerometer and magnetometer signals under stationaryconditions for a single-axis rotation system. The proposed procedure was verified through simulations and experimentaltests, and the results showed that both the elevation and azimuth accuracies could be achieved within 0.01° in terms of the meanabsolute error.
Abstract
A nine-axis inertial measurement unit (IMU) consisting of a three-axis gyroscope, three-axis accelerometer, and three-axis magnetometeris used to estimate the 3D orientation of a moving object, including the elevation and azimuth. Under stationary conditions,where dynamic or magnetic disturbances are negligible, orientation estimation is a determined problem in which theaccuracy of the elevation and azimuth depends only on sensor errors. Conventionally, sensor calibration using the 3D rotation ofthe sensor has been performed to improve the elevation/azimuth error by compensating for sensor errors. However, for a one-axisrotation system, such as a servo motor that permits only single-axis rotation, conventional 3D sensor calibration cannot be applied. Additionally, when rotating the elevation/azimuth with a motor, a difference may occur between the target axis of the referencecoordinate system and the motor rotation axis, which may cause inaccuracies in the elevation/azimuth. In this paper, we proposea procedure for highly accurately estimating elevation and azimuth based on accelerometer and magnetometer signals under stationaryconditions for a single-axis rotation system. The proposed procedure was verified through simulations and experimentaltests, and the results showed that both the elevation and azimuth accuracies could be achieved within 0.01° in terms of the meanabsolute error.