Nowadays, the range of the MEMS (Microelectromechanical systems) sensors is growing, mainly because the spreading of the electric devices, like the smartphone or the GPS, which can be used in cars, and needs the small size and low power cost of the sensor. The main objective of this thesis to estimate the orientation of a physical device with an IMU. The IMU is made up of three MEMS 3D sensors: from an accelerometer, a magnetometer and a gyroscope.
In this thesis we will get the reader acquainted with three mathematical representations of the orientation, which are the quaternions, the Euler angles and the rotation matrix, and the required mathematical transitions between them will be introduced. After that we will investigate the working principles and the most common implementation of the three inertial sensors, and we look at the properties of the sensors. At the end of the theoretical discussion we will present an orientation calculation algorithm.
After that with this theoretical knowledge we plan and implement a system, which is capable of send the sensor data to the PC, where the calculation of the orientation will be performed and the results will be presented with a graphical user interface
At the end of the thesis we will show the test of the whole system, and further possibilities will be presented.