P1.6 - One-dimensional Orientation Using a Low-cost Inertial Sensor

This paper presents one-dimensional attitude estimation using a low-cost gyroscope with help of shaping filter for industry applications. This algorithm is a part of controller module, which will be implemented in an intelligent wrench for automotive manufacturing. The orientation is primary estimated by the signals of a low-cost pinpoint gyroscope. With help of an error model based on Shaping filter method, the optimal 1-D orientation of an object is determined by compensating the estimated orientation with the estimated error. As the results from experiments, the accuracy of this attitude estimation is less than 1 degree within 90 second.