公开(公告)号：KR101418873B1

公开(公告)日：2014-07-17

申请号：KR1020130033086

申请日：2013-03-27

Applicant: 한국과학기술연구원

Inventor： 강동훈 ,  김진욱 ,  박종우 ,  하준형

IPC: G01P21/00 ,  G01P15/14

CPC classification number: G01P21/025 ,  G01B11/272 ,  G01P15/14 ,  G06T7/68

Abstract: The present invention relates to a method of calibrating an orientation measurement sensor. A method of calibrating an orientation measurement apparatus according to an embodiment of the present invention comprises the steps of: (a) obtaining a first orientation value corresponding to a relative orientation of a first orientation measurement sensor with respect to a first reference coordinate system; (b) obtaining a second orientation value corresponding to a relative orientation of a second orientation measurement sensor with respect to a second reference coordinate system; and (c) calculating a third orientation value corresponding to the relative orientation of the second orientation measurement sensor with respect to the first orientation measurement sensor and a fourth orientation value corresponding to a relative orientation of the second reference coordinate system with respect to the first reference coordinate system, using the first orientation value and the second orientation value, with a calculation apparatus. The step (c) corresponds to the step of calculating the third orientation value and the fourth orientation value, which minimize an error between a fifth orientation value corresponding to a relative orientation of the second orientation measurement sensor with respect to the first reference coordinate system calculated from the first orientation value and the third orientation value, and a sixth orientation value corresponding to a relative orientation of the second orientation measurement sensor with respect to the first reference coordinate system calculated from the second orientation value and the fourth orientation value.

Abstract translation: 本发明涉及一种校准取向测量传感器的方法。 根据本发明的实施例的校准取向测量装置的方法包括以下步骤：（a）获得与第一取向测量传感器相对于第一参考坐标系的相对取向相对应的第一取向值; （b）获得与第二取向测量传感器相对于第二参考坐标系的相对取向相对应的第二取向值; 以及（c）计算与第二取向测量传感器相对于第一定向测量传感器的相对定向对应的第三取向值和对应于第二参考坐标系相对于第一参考的相对定向的第四定向值 使用计算装置使用第一取向值和第二取向值。 步骤（c）对应于计算第三取向值和第四取向值的步骤，其使与第二取向测量传感器相对于第一基准坐标系相对应的第五取向值之间的误差最小化 以及与第二取向测量传感器相对于从第二取向值和第四取向值计算出的第一基准坐标系的相对取向对应的第六取向值。