| 摘要 |
A method of estimating the orientation of an object in space at time k using measurements of the total acceleration (yA), magnetic field (yM) and rotation speed (yG) of said object along three spatial axes, comprising the following steps: A—preprocessing of said measurements (yA, yM, yG) at a moment k to detect the existence of a disturbance in said measurements and estimate disturbance-free measurements at time k, B—estimation of the orientation ({circumflex over (q)}k) at time k by an observer from the disturbance-free measurements ({tilde over (y)}A,k, {tilde over (y)}M,k, {tilde over (y)}G,k) at time k obtained from the step A. |
