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A Method for Measuring Angular Orientation with Adaptive Compensation of Dynamic Errors.

Dimitar Dichev1,2, Iliya Zhelezarov1,2, Borislav Georgiev1,2

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This study introduces a novel method for measuring object orientation, using adaptive Kalman filtering to correct dynamic errors in real-time. This system accurately determines roll and pitch for moving objects, validated against international standards.

Keywords:
MEMS sensorsadaptive Kalman filtrationangular orientation measurementevaluation of measurement uncertainty in dynamic measurements

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Area of Science:

  • Engineering
  • Measurement Science
  • Robotics

Background:

  • Accurate angular orientation measurement is critical for dynamic systems.
  • Existing methods often struggle with instrumental and dynamic errors.
  • Inertial element stabilization can be complex and error-prone.

Purpose of the Study:

  • To develop an integrated method for measuring the angular orientation of moving objects.
  • To reduce instrumental errors through a simplified mechanical structure.
  • To achieve adaptive compensation of dynamic errors using a hardware-software platform.

Main Methods:

  • An adaptive Kalman structure was employed for real-time error correction, avoiding inertial element stabilization.
  • A two-channel measurement model with independent signals and MEMS sensors was used.
  • A metrologically based methodology for quantitative assessment, including error and uncertainty theories, was developed.

Main Results:

  • A system for measuring roll and pitch was developed and implemented.
  • Experimental validation confirmed system accuracy in static and dynamic modes against a high-accuracy reference system.
  • The developed methodology provides objective, reproducible, and traceable evaluation.

Conclusions:

  • The integrated method offers a robust solution for angular orientation measurement of dynamic objects.
  • The adaptive Kalman approach effectively compensates for dynamic errors.
  • The system's accuracy and the assessment methodology are validated and traceable to international standards.