【作者】 杨克虎； 郁文生；

【Author】 YANG Kehu,YU Wensheng 1.School of Mechanical Electronic & Information Engineering,China University of Mining & Technology,Beijing 100083,P.R.China 2.School of Software Engineering,East China Normal University,Shanghai 200062,P.R.China 3.Lab of Complex Systems and Intelligent Science,Institute of Automation,CAS,Beijing 100190,P.R.China

【机构】 中国矿业大学(北京)机电与信息工程学院； 华东师范大学软件学院； 中国科学院自动化研究所复杂系统与智能科学重点实验室；

【摘要】 本文提出了一种集成了六自由度惯性测量单元、三轴磁罗盘、单目摄像机以及高性能低功耗数字信号处理器的嵌入式智能传感器,并且简要地讨论了系统的硬件设计与构造.结合此智能传感器,提出了一种基于姿态四元数和摄像机极几何的姿态估计方法.并且通过实验对该方法进行了验证.更多还原

【Abstract】 This paper proposed an embedded smart sensor which is consisted of a 6 DOF(Degree Of Free) IMU(Inertial Measurement Unit),a 3-axis magnetic compass,a monocular camera and a DSP processor which is high performance and power saved,and briefly discussed the design and construction of the system’s hardware.By using this embedded smart sensor,we proposed a attitude determination method which is based on the quaternion and the epipolar geometry.The experimental results demonstrated the effectiveness of the methods.更多还原