Решение задачи определения ориентации объективов бинокля с помощью инерциальных датчиков

Abstract

The paper considers a binocular-shaped device, which consists of two solid bodies — lenses connected by a common axis of rotation, and introduces a solution to the problem of the absolute and relative positioning of each of the lenses of the device using accelerometers, angular velocity sensors and Hall sensors installed in each of the lenses. To solve the problem, we developed an algorithm based on the Madgwick filter. The algorithm uses data from all sensors and determines the orientation of both lenses from this data. In addition to the information received from the sensors, the solution of the problem uses information about the geometric relationship imposed on the system — the common axis of rotation of both lenses. The ARTrack video analysis system was used to verify the obtained algorithm. The results of the filter operation were verified using the records received from the video analysis system.