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Attitude Determination of a Land Vehicle Using Inertial Measurement Units

IMU. Block Diagram. 360 Degree Yaw Rotation. Unfiltered Data. Filtered Data. Attitude Computer. Attitude Determination of a Land Vehicle Using Inertial Measurement Units. By: Brian Bleeker Rob MacMillan Advisor: Dr. In Soo Ahn. Raw Data.

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Attitude Determination of a Land Vehicle Using Inertial Measurement Units

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  1. IMU Block Diagram 360 Degree Yaw Rotation Unfiltered Data Filtered Data Attitude Computer Attitude Determination of a Land Vehicle Using Inertial Measurement Units By: Brian Bleeker Rob MacMillan Advisor: Dr. In Soo Ahn Raw Data Department of Electrical and Computer Engineering Abstract The objective of the project is to determine the attitude of a land vehicle with respect to local navigation coordinates. Angular rates and accelerations from an inertial measurement unit (IMU) are processed to form a strapdown solution of the vehicle’s attitude and position. The system can operate independently or in conjunction with other navigation systems like GPS. • Software Library • Direction cosine matrix • Earth parameters • Gravity computer • Geographic position: latitude, longitude, and altitude • Signal Processing • Slope filter in velocity • Variance filter • Outputs of Strapdown System • Position, velocity, and acceleration of the vehicle • Attitude of the vehicle: roll, pitch, and yaw

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