An attitude compensation technique for a MEMS motion sensor based digital writing instrument.

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.1Chapter 1.1. --- Organization --- p.3Chapter 2. --- Architecture of MAG-μIMU --- p.5Chapter 2.1. --- Hardware for Attitude Filter --- p.5Chapter 2.2. --- Handwriting Recording for a Digital Writing Instrument --- p.7Chapter 3. --- Inertial Tracking for Handwriting --- p.9Chapter 3.1. --- Spatial Descriptions and Transformations --- p.9Chapter 3.1.1. --- Vector Description and Position of a Frame --- p.9Chapter 3.1.2. --- Coordinate Transformation and Orientation of a Frame --- p.10Chapter 3.1.3. --- Kinematics for Digital Writing Instruments --- p.12Chapter 3.1.4. --- Vector Rotation --- p.16Chapter 3.2. --- Euler Angles for Rotation in Space --- p.17Chapter 3.3. --- Euler Angles Attitude Kinematics --- p.19Chapter 3.4. --- Singular Problem --- p.19Chapter 4. --- Attitude in Quaternion --- p.22Chapter 4.1. --- Quaternion Operations --- p.22Chapter 4.1.1. --- Quaternion Conjugate --- p.23Chapter 4.1.2. --- Quaternion Norm --- p.24Chapter 4.1.3. --- Quaternion Inverse --- p.24Chapter 4.2. --- Orientation Description in Quaternion --- p.24Chapter 4.3. --- Attitude Kinematics in Quaternion --- p.25Chapter 5. --- Kalman Filter --- p.27Chapter 5.1. --- Time Update --- p.28Chapter 5.2. --- Measurement Update --- p.29Chapter 5.2.1. --- Maximum a Posterior Probability --- p.29Chapter 5.2.2. --- Batch Least-Square Estimation --- p.31Chapter 5.2.3. --- Measurement Update in Kalman Filter --- p.34Chapter 5.3. --- Kalman Filter Summary --- p.36Chapter 6. --- Extended Kalman Filter --- p.38Chapter 7. --- Attitude Extended Kalman Filter --- p.41Chapter 7.1. --- Time Update Model --- p.41Chapter 7.1.1. --- Attitude Strapdown Theory for a Quaternion --- p.41Chapter 7.1.2. --- Error Model for Time Update --- p.42Chapter 7.2. --- Measurement Update Model --- p.43Chapter 7.2.1. --- Error Model for the Measurement Update --- p.45Chapter 7.3. --- Summary --- p.46Chapter 8. --- Experiment Results --- p.47Chapter 8.1. --- Experiment for Attitude EKF based on MAG-μIMU --- p.47Chapter 8.1.1. --- Simulation Test --- p.48Chapter 8.1.2. --- Experiment Test --- p.49Chapter 8.2. --- Writing Application based on Attitude EKF Compensation --- p.52Chapter 8.2.1. --- Stroke Segment Kalman Filter --- p.54Chapter 8.2.2. --- Zero Velocity Compensation --- p.58Chapter 8.2.3. --- Complementary Attitude EKF for Writing Experiment --- p.60Chapter 9. --- Future Work --- p.73Chapter 9.1. --- Unscented Kalman Filter --- p.73Chapter 9.1.1. --- Least-square Estimator Structure --- p.73Chapter 9.1.2. --- Unscented Transform --- p.74Chapter 9.1.3. --- Unscented Kalman Filter --- p.76Chapter 9.2. --- Experiment Result --- p.81Chapter 10. --- Conclusion --- p.85Chapter 10.1. --- Attitude Extended Kalman Filter --- p.85Chapter 10.2. --- Complementary Attitude EKF --- p.85Chapter 10.3. --- Unscented Kalman Filter --- p.86Chapter 10.4. --- Future Work --- p.86Bibliography --- p.87Appendix A --- p.9