Accurate Tilt Estimation of a Rotating Platform Using Inertial Sensing

Inertial sensing is a highly desirable methodology of sensing in mobile robotics. Inertial sensors provide a xed reference measurement that can be easily transformed from the body frame of the robot into a relative world frame. These technologies provide sound information with high levels of reliability and repeatability. Some inertial sensors are capable of providing rate information pertaining to the motion of a platform, but pose estimating sensors are incapable of this task. This paper proposes an approach to the measurement of the roll and pitch of a disc that is rotating at a speed of at least 5Hz without the need for precise placement of the sensors. This method of measuring pose can be extended to multiple platforms without the use of complex and occasionally confusing algorithms.M.S., Mechanical Engineering and Mechanics -- Drexel University, 201