http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
드리프트 오차 최소화를 위한 관성-기압센서 기반의 수직속도 추정 알고리즘
지성인(Sung-In Ji),이정근(Jung Keun Lee) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.11
Vertical velocity is critical in many areas, such as the control of unmanned aerial vehicles, fall detection, and virtual reality. Conventionally, the integration of GPS (Global Positioning System) with an IMU (Inertial Measurement Unit) was popular for the estimation of vertical components. However, GPS cannot work well indoors and, more importantly, has low accuracy in the vertical direction. In order to overcome these issues, IMU–barometer integration has been suggested instead of IMU–GPS integration. This paper proposes a new complementary filter for the estimation of vertical velocity based on IMU–barometer integration. The proposed complementary filter is designed to minimize drift error in the estimated velocity by adding PID control in addition to a zero velocity update technique.