Luo Yilun. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2006. / Includes bibliographical references (leaves 87-91). / Abstracts in English and Chinese. / Chapter 1. --- Introduction --- p.1 / Chapter 1.1. --- Organization --- p.3 / Chapter 2. --- Architecture of MAG-μIMU --- p.5 / Chapter 2.1. --- Hardware for Attitude Filter --- p.5 / Chapter 2.2. --- Handwriting Recording for a Digital Writing Instrument --- p.7 / Chapter 3. --- Inertial Tracking for Handwriting --- p.9 / Chapter 3.1. --- Spatial Descriptions and Transformations --- p.9 / Chapter 3.1.1. --- Vector Description and Position of a Frame --- p.9 / Chapter 3.1.2. --- Coordinate Transformation and Orientation of a Frame --- p.10 / Chapter 3.1.3. --- Kinematics for Digital Writing Instruments --- p.12 / Chapter 3.1.4. --- Vector Rotation --- p.16 / Chapter 3.2. --- Euler Angles for Rotation in Space --- p.17 / Chapter 3.3. --- Euler Angles Attitude Kinematics --- p.19 / Chapter 3.4. --- Singular Problem --- p.19 / Chapter 4. --- Attitude in Quaternion --- p.22 / Chapter 4.1. --- Quaternion Operations --- p.22 / Chapter 4.1.1. --- Quaternion Conjugate --- p.23 / Chapter 4.1.2. --- Quaternion Norm --- p.24 / Chapter 4.1.3. --- Quaternion Inverse --- p.24 / Chapter 4.2. --- Orientation Description in Quaternion --- p.24 / Chapter 4.3. --- Attitude Kinematics in Quaternion --- p.25 / Chapter 5. --- Kalman Filter --- p.27 / Chapter 5.1. --- Time Update --- p.28 / Chapter 5.2. --- Measurement Update --- p.29 / Chapter 5.2.1. --- Maximum a Posterior Probability --- p.29 / Chapter 5.2.2. --- Batch Least-Square Estimation --- p.31 / Chapter 5.2.3. --- Measurement Update in Kalman Filter --- p.34 / Chapter 5.3. --- Kalman Filter Summary --- p.36 / Chapter 6. --- Extended Kalman Filter --- p.38 / Chapter 7. --- Attitude Extended Kalman Filter --- p.41 / Chapter 7.1. --- Time Update Model --- p.41 / Chapter 7.1.1. --- Attitude Strapdown Theory for a Quaternion --- p.41 / Chapter 7.1.2. --- Error Model for Time Update --- p.42 / Chapter 7.2. --- Measurement Update Model --- p.43 / Chapter 7.2.1. --- Error Model for the Measurement Update --- p.45 / Chapter 7.3. --- Summary --- p.46 / Chapter 8. --- Experiment Results --- p.47 / Chapter 8.1. --- Experiment for Attitude EKF based on MAG-μIMU --- p.47 / Chapter 8.1.1. --- Simulation Test --- p.48 / Chapter 8.1.2. --- Experiment Test --- p.49 / Chapter 8.2. --- Writing Application based on Attitude EKF Compensation --- p.52 / Chapter 8.2.1. --- Stroke Segment Kalman Filter --- p.54 / Chapter 8.2.2. --- Zero Velocity Compensation --- p.58 / Chapter 8.2.3. --- Complementary Attitude EKF for Writing Experiment --- p.60 / Chapter 9. --- Future Work --- p.73 / Chapter 9.1. --- Unscented Kalman Filter --- p.73 / Chapter 9.1.1. --- Least-square Estimator Structure --- p.73 / Chapter 9.1.2. --- Unscented Transform --- p.74 / Chapter 9.1.3. --- Unscented Kalman Filter --- p.76 / Chapter 9.2. --- Experiment Result --- p.81 / Chapter 10. --- Conclusion --- p.85 / Chapter 10.1. --- Attitude Extended Kalman Filter --- p.85 / Chapter 10.2. --- Complementary Attitude EKF --- p.85 / Chapter 10.3. --- Unscented Kalman Filter --- p.86 / Chapter 10.4. --- Future Work --- p.86 / Bibliography --- p.87 / Appendix A --- p.92
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_325702 |
| Date | January 2006 |
| Contributors | Luo, Yilun., Chinese University of Hong Kong Graduate School. Division of Automation and Computer-Aided Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, ix, 95 leaves : ill. (some col.) ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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