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Title: Development of an algorithm to determinate the orientation using an IMU
Author: Bisbal Castao, Andoni
Director: Gómez Cama, José María
Keywords: Algorismes
Treballs de fi de grau
Bachelor's thesis
Issue Date: Jun-2016
Abstract: In this paper we will study an algorithm designed by Madgwick which is commonly used to determine the orientation of a quadcopter. The algorithm uses a group of accelerometers, gyroscopes and magnetometers integrated in what is called an IMU as input. Some differences have been found between the results obtained by the original paper and the implementation done by the author. Therefore, a thorough study has been made, Finding a miscalculation in the equations. The results show a relative average error in the orientation of 1,44 ppm
Note: Treballs Finals de Grau de Física, Facultat de Física, Universitat de Barcelona, Curs: 2016, Tutor: José María Gómez Cama
Appears in Collections:Treballs Finals de Grau (TFG) - Física

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