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Measurement of three-dimensional welding torch orientation for manual arc welding process
Measurement of three-dimensional welding torch orientation for manual arc welding process
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机译:手工电弧焊过程中三维焊枪方向的测量
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摘要
Methods and systems are provided herein for measuring 3D apparatus (e.g., manual tool or tool accessory) orientation. Example implementations use an auto-nulling algorithm that incorporates a quaternion-based unscented Kalman filter. Example implementations use a miniature inertial measurement unit endowed with a tri-axis gyro and a tri-axis accelerometer. The auto-nulling algorithm serves as an in-line calibration procedure to compensate for the gyro drift, which has been verified to significantly improve the estimation accuracy in three-dimensions, especially in the heading estimation.
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