DAGE-MTI Excel Series Manual do Utilizador descarregar pdf (Página 12)

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 DocumentMT0100P.N

©XsensTechnologiesB.V. MTiandMTxUserManualandTechnicalDocumentation

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3.2.4 XKFScenarios

As described above, XKF‐3 uses assumptions about the acceleration and the magnetic field to obtain

orientation.Becausethecharacteristicsoftheaccelerationormagneticfielddifferfordifferentapplications,

XKF‐3makesuseofscenariostobeabletousethecorrectassumptionsgiventheapplication.Thisway,XKF‐3

canbeoptimizedfordifferenttypesofmovement.Foroptimalperformance,thecorrectscenariomustbeset

by the user. For information on how to specify a scenario in XKF‐3, please refer to the MT Manager User

manualortheMTlow‐levelcommunicationprotocoldocumentation.

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The different scenarios are divided in 'human', 'machine' and 'marine' types of motion and are discussed

below.

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XKF‐3 Scenario IMU Magnetometer

Human

● ●

Human_large_accel

● ●

Machine

● ●

Machine_nomag

●

Marine

● ●

Table1:TheXKF‐3orientationalgorithmusesdifferentsourcesofinformationorassumptionsdependingon

theapplicationscenariothatisselected.

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Human

Two different scenarios are designed for human movements. The scenario 'human' assumes the somewhat

slower movements, also taking into account magnetic disturbances typical for an indoor environment. The

scenario'human_large_accel'isoptimizedforthefastmovementsuptoanangularvelocityof1200deg/sand

accelerationsupto5gthatmayoccurduringimpact.

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Machine

Themachinescenarioisdesignedforaverybroad rangeofdifferentmovements.Theseincludeaccelerations

thataregenerallyslowerandoflongerperiodsoftimethanaccelerationstypicalforhumanmovement.

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Aseparatemachinescenarioisdesignedforsituationsinwhichthelocalearthmagneticfieldistoodistorted

tobeuseful.Thisscenarioislabelled‘machine_nomagfield’,itdoesnotmakeuseofthelocalearthmagnetic

field to obtain a heading estimate. This can be advantageous in scenarios in which extreme magnetic

disturbancesoccur,butithasthedisadvantagethattheheadingcannotbestabilizedandthatthegyrobiasof

the “vertical” gyroscope can not be observed. In other words: a heading change (delta) can be accurately

tracked,butforlongerperiodsoftimetheabsoluteheadingcannotbestabilized.Notethattherollandpitch

(the inclination, or attitude) are still accurately tracked using rate gyroscopes and accelerometers alone.

Considerutilizingthe“NoRotation”featuretoimprovegyrobiasobservabilityanddecreaseheadingdriftwhen

usingthisscenario,seealsosection3.3.

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Marine

The marine scenario is optimized for low, long term accelerations and mild magnetic disturbances. It is

assumedthatinatypicalmarinesetting,almostallmagneticdisturbancescanbeaccountedforbyaso‐called

magneticfieldmappingprocedure.Seesection7.2.3formoredetails.

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