Quaternion-based AHRS with MEMS Motion Sensor for Biomedical Applications
2021 IEEE International Biomedical Instrumentation and Technology Conference (IBITeC)（2021）
摘要
This work presents relevant theoretical and practical aspects towards the design of a quaternion-based real-time Attitude and Heading Reference System (AHRS). The motion sensor used in this work is the TDK InvenSense MPU-9250 9-degree (gyro + accelerometer + compass) Microelectromechanical system. Results show that the AHRS developed device is “gimbal lock” immune, given that the 3D rotations are ...
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关键词
Micromechanical devices,Performance evaluation,Three-dimensional displays,Quaternions,Assistive technologies,Packaging,Real-time systems
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