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Vol. 14-1, Special Issue, March 2012, pp.32-47

 

Bullet

 

Accelerometer and Magnetometer Based Gyroscope Emulation on Smart Sensor for a Virtual Reality Application

 

Baptiste Delporte, Laurent Perroton, Thierry Grandpierre
and 1 Jacques Trichet

Université Paris Est, ESIEE Engineering, Marne-la-vallée, France

1 Freescale Semiconductor, Inc. Toulouse, France

 

 

Received: 16 November 2011   /Accepted: 20 December 2011   /Published: 12 March 2012

Digital Sensors and Sensor Sysstems

 

Abstract: In this paper, we propose two methods based on quaternions to compute the angles of inclination and the angular velocity with 6 degrees of freedom using the measurements of a 3-axis accelerometer and a 3-axis magnetometer. Each method has singularities which occur during the computation of the orientation of the device in the 3-dimensional space. We propose solutions to avoid these singularities. Experimental results are given to compare our model with a real gyroscope.

 

Keywords: Smart sensor, Sensor fusion, Accelerometer, Magnetometer, Angular velocity, Gyroscope

 

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