摘要:
3 . , 1.6° . . .
In this paper, we propose an orientation tracking method and a digestion path model based on angular displacement. The proposed method expresses a capsule's orientation as 3-dimension vectors and its rotation angle. Errors in roll, pitch, and yaw representing capsule's orientation information is down to 1.6°. Using the proposed method we can measure a roll which is not possible to be measured using the magnetic field method. We reduce algorithm complexity lower than a previous methods based on Euler angle.
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