The present article contains methods determining of the gravitational acceleration components in the measurement signal of accelerometers. Eliminating those unwanted values of the MEMS sensors signals enables recording actual accelerations affecting an object. Only a signal transformed in this way can be used in order to estimate the object location or construct the inertial navigation systems. The theoretical part of the work presents methods of the orientation representation with the use of Euler angles and quaternions. An algorithm of quaternion formation with the use of the rotation angles and a direct method using the accelerometer measurement data in the vector form are also presented here. The theoretical description of three algorithms of the gravitational acceleration components elimination, in which the universal method used at the changeable object orientation in movement and methods used at constant orientation, are described. One of the presented algorithms exploited the global gravity vector transformation into a local system with the use of the Direct Cosine Matrix and quaternions. Other described algorithms were based on eliminating the constant value by applying a digital filter and appropriate algebraic transformations.

Date Published: 28 September 2016
PDF: 10 pages
Proc. SPIE 10031, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2016, 100311U (28 September 2016); doi: 10.1117/12.2248631

Published in SPIE Proceedings Vol. 10031:
Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2016
Ryszard S. Romaniuk, Editor(s)