Design and Implementation of MARG Sensors for 3-DOF Orientation Measurement of Rigid Bodies
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Authors
Bachmann, Eric R.
Yun, Xiaoping
McKinney, Doug
McGhee, Robert B.
Zyda, Michael J.
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Date of Issue
2003
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Abstract
This paper presents the latest design and implementation
of the Magnetic, Angular Rate, and Gravity (MRG)
sensor module. The MRG sensor module is designed for
measuring 3-DOF orientations in real time without
singularities. Each MRG 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 form factor is less than one cubic inch. Digital
data output rate i . ~1 00 Hz. To simp/!@ calibration
procedures and filtering algorithms, it is important that
the response ojthr individual sensor componenrs 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.
Type
Conference Paper
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This work was in part supported by the Army Research Office (ARO project number 40410-MA) and the U.S. Navy Modeling and Simulation Office (N6M).
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Proceedingsofthe2003 IEEE, International Conference On Robotics & Automalion
Taipei, Taiwan, September 14-19, 2003
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.