Medición de Ángulos de Inclinación por Medio de Fusión Sensorial Aplicando Filtro de Kalman
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Resumen
Con el fin de obtener medidas angulares con el mínimo error y desviación posible se establece la fusión sensorial mediante el uso del Filtro de Kalman de las señales del acelerómetro y el giroscopio para un sistema en reposo sometido a perturbaciones (vibraciones). Finalmente el algoritmo es implementado en una plataforma que se basa en un microcontrolador dsPIC30F4011 que permite medir ángulos de inclinación en cabeceo y alabeo. Además en este documento se presenta una metodología que permite entender el manejo de los sensores inerciales (acelerómetro y giroscopio), así como también se da a  conocer sus principales características y los problemas inherentes a su funcionamiento.
Abstract:In order to obtain the minimum error and deviation of an angular measurement, is established sensory fusion using the Kalman Filter between the accelerometer and the gyroscope signals for a stationary system under disturbances (vibrations).Finally, the algorithm is implemented on a platform that is based on a microcontroller dsPIC30F4011 to measure angles in roll and pitch. Additionally, this paper presents a methodology that enables a better understanding of the management of inertial sensors (accelerometer and gyroscope) and also discloses its main characteristics and problems inherent in their operation.
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