{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:33:48Z","timestamp":1760240028104,"version":"build-2065373602"},"reference-count":26,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2019,1,24]],"date-time":"2019-01-24T00:00:00Z","timestamp":1548288000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["No. 61741211, 61772350 and 61472260"],"award-info":[{"award-number":["No. 61741211, 61772350 and 61472260"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>As a new type of micro-electro-mechanical systems (MEMS) inertial sensor, the Quartz Vibrating Beam Accelerometer (QVBA) is widely used in intelligent sweeping robots, small aircraft, navigation systems, etc. For these applications, correcting and compensating the attitude angle with the result of acceleration plays an important role to improve the measurement accuracy. The synchronization error between the measurement of the accelerometer and gyroscope attitude angle has an adverse impact on the accuracy of the attitude angle. In this paper, a synchronous acquisition scheme of the accelerometer and gyroscope attitude angle in a strapdown inertial navigation system (SINS) is proposed. At the same time, to improve the sampling accuracy and the conversion speed of QVBA, an improved equal-precision frequency measuring method is also implemented in this paper. The hardware float point unit (FPU) is used to accelerate the calculation of the frequency measurement value. The long-term cumulative error of the frequency measurement value is less than       10   \u2212 4      . The calculation process time from sampling to attitude angle compensation calculation is reduced by 40.8%. This work has played a very good role in improving the measurement accuracy and speed of the SINS.<\/jats:p>","DOI":"10.3390\/s19030483","type":"journal-article","created":{"date-parts":[[2019,1,24]],"date-time":"2019-01-24T11:12:48Z","timestamp":1548328368000},"page":"483","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Attitude Angle Compensation for a Synchronous Acquisition Method Based on an MEMS Sensor"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2063-4735","authenticated-orcid":false,"given":"Huanhuan","family":"Tian","sequence":"first","affiliation":[{"name":"College of Information Engineering, Capital Normal University, Beijing 100048, China"}]},{"given":"Yixiao","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Capital Normal University, Beijing 100048, China"}]},{"given":"Jiqin","family":"Zhou","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Capital Normal University, Beijing 100048, China"}]},{"given":"Ying","family":"Wang","sequence":"additional","affiliation":[{"name":"Beijing Advanced Innovation Center for Image Theory and Technology, Capital Normal University, Beijing 100048, China"}]},{"given":"Jing","family":"Wang","sequence":"additional","affiliation":[{"name":"Beijing Advanced Innovation Center for Image Theory and Technology, Capital Normal University, Beijing 100048, China"},{"name":"State Key Laboratory of Computer Architecture, Institute of Computing Technology, Chinese Academy of Sciences, Beijing 100048, China"}]},{"given":"Weigong","family":"Zhang","sequence":"additional","affiliation":[{"name":"Beijing Advanced Innovation Center for Image Theory and Technology, Capital Normal University, Beijing 100048, China"},{"name":"Beijing Engineering Research Center of High Reliable Embedded System, Capital Normal University, Beijing 100048, China"}]}],"member":"1968","published-online":{"date-parts":[[2019,1,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Zhi, W., Chu, J., Li, J., and Wang, Y. (2018). A Novel Attitude Determination System Aided by Polarization Sensor. Sensors, 18.","DOI":"10.3390\/s18010158"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Lee, C., Dao, N., Jang, S., Kim, D., Kim, Y., and Cho, S. (2016). Gyro Drift Correction for An Indirect Kalman Filter Based Sensor Fusion Driver. Sensors, 16.","DOI":"10.3390\/s16060864"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"162","DOI":"10.1049\/iet-cta.2015.0235","article-title":"Extended robust Kalman filter for attitude estimation","volume":"10","author":"Inoue","year":"2016","journal-title":"IET Control Theory Appl."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1921","DOI":"10.3390\/s17081921","article-title":"An Extended Kalman Filter-Based Attitude Tracking Algorithm for Star Sensors","volume":"17","author":"Li","year":"2017","journal-title":"Sensors"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1511","DOI":"10.3390\/s140101511","article-title":"A Strapdown Interial Navigation System\/Beidou\/Doppler Velocity Log Integrated Navigation Algorithm Based on a Cubature Kalman Filter","volume":"14","author":"Gao","year":"2014","journal-title":"Sensors"},{"key":"ref_6","unstructured":"Hong, D., Liu, G., Chen, H., and Deng, C. (2010, January 8\u201310). Application of EKF for Missile Attitude Estimation based on SINS\/CNS Integrated Guidance System and Control in Aeronautics and Astronautics. Proceedings of the 2010 3rd International Symposium on Systems and Control in Aeronautics and Astronautics, Harbin, China."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Changey, S., Beauvois, D., and Fleck, V. (2006, January 14\u201316). A mixed extended-unscented filter for attitude estimation with magnetometer sensor. Proceedings of the 2006 American Control Conference, Minneapolis, MN, USA.","DOI":"10.1109\/ACC.2006.1657158"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Lin, M., Chen, D., Bi, S., Chen, W., Yao, W., Huang, Q., and Zeng, X. (2013, January 26\u201329). An improved attitude information fusion algorithm based on particle filtering. Proceedings of the 2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, Nanjing, China.","DOI":"10.1109\/CYBER.2013.6705473"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"15656","DOI":"10.3390\/s131115656","article-title":"Unscented Particle Filtering for Estimation of Shipboard Deformation Based on Inertial Measurement Units","volume":"13","author":"Wang","year":"2013","journal-title":"Sensors"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Duong, D.Q., Sun, J., Nguyen, T.P., and Luo, L. (2016, January 20\u201322). Attitude estimation by using MEMS IMU with Fuzzy Tuned Complementary Filter. Proceedings of the 2016 IEEE International Conference on Electronic Information and Communication Technology (ICEICT), Harbin, China.","DOI":"10.1109\/ICEICT.2016.7879720"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"3816","DOI":"10.3390\/s110403816","article-title":"Gain-Scheduled Complementary Filter Design for a MEMS Based Attitude and Heading Reference System","volume":"11","author":"Yoo","year":"2011","journal-title":"Sensors"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"19302","DOI":"10.3390\/s150819302","article-title":"Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs","volume":"15","author":"Valenti","year":"2015","journal-title":"Sensors"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"13324","DOI":"10.3390\/s140813324","article-title":"A Sensor Fusion Method for Tracking Vertical Velocity and Height Based on Inertial and Barometric Altimeter Measurements","volume":"14","author":"Sabatini","year":"2014","journal-title":"Sensors"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"562","DOI":"10.1109\/TCST.2006.872519","article-title":"Attitude stabilization of a VTOL quadrotor Aircraft","volume":"14","author":"Tayebi","year":"2006","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"2473","DOI":"10.1109\/TAC.2015.2501358","article-title":"Angular Velocity Nonlinear Observer from Single Vector Measurements","volume":"61","author":"Magnis","year":"2016","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Euston, M., Coote, P., Mahony, R., and Hamel, T. (2008, January 22\u201326). A complementary filter for attitude estimation of a fixed-wing UAV. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robotsand Systems, Nice, France.","DOI":"10.1109\/IROS.2008.4650766"},{"key":"ref_17","unstructured":"Baerveldt, A.J., and Klang, R. (1997, January 15\u201317). A low-cost and low-weight attitude estimation system for an autonomous helicopter. Proceedings of the IEEE International Conference on Intelligent Engineering Systems, Budapest, Hungary."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1203","DOI":"10.1109\/TAC.2008.923738","article-title":"Nonlinear Complementary Filters on the Special Orthogonal Group","volume":"53","author":"Mahony","year":"2008","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"981","DOI":"10.1166\/asl.2012.1850","article-title":"Error Modeling and Compensation for Rotation-Modulation Strapdown Inertial Navigation System","volume":"5","author":"Xu","year":"2012","journal-title":"Adv. Sci. Lett."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"2045","DOI":"10.1109\/ACCESS.2016.2565638","article-title":"Research on Error Compensation Property of Strapdown Inertial Navigation System Using Dynamic Model of Shearer","volume":"4","author":"Yang","year":"2017","journal-title":"IEEE Access"},{"key":"ref_21","unstructured":"Traon, O., Janiaud, D., Pernice, M., Masson, S., Muller, S., and Tridera, J. (2006, January 25\u201327). A New Quartz Monolithic Differential Vibrating Beam Accelerometer. Proceedings of the 2006 IEEE\/ION Position, Location, and Navigation Symposium, San Diego, CA, USA."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Levy, R., Janiaud, D., Guerard, J., Taibi, R., and Traon, O. (2014, January 25\u201326). A 50 nano-g resolution quartz Vibrating Beam Accelerometer. Proceedings of the International Symposium on Inertial Sensors and Systems, Laguna Beach, CA, USA.","DOI":"10.1109\/ISISS.2014.6782532"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"682","DOI":"10.1109\/TIM.2009.2025985","article-title":"A direct measurement method of frequency responses of the smart power IC","volume":"59","author":"Xu","year":"2010","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"2590","DOI":"10.1016\/j.proeng.2012.06.304","article-title":"Frequency measurement methods by signal processing techniques","volume":"38","author":"Sondkar","year":"2012","journal-title":"Procedia Eng."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"696","DOI":"10.4236\/eng.2012.410089","article-title":"Design of equal-precision frequency meter based on fpga","volume":"4","author":"Fang","year":"2012","journal-title":"Engineering"},{"key":"ref_26","unstructured":"(2006, July 31). A VHDL Library of Parametrisable Floating-Point and LNS Operators for FPGA. Available online: http:\/\/www.ens-lyon.fr\/LIP\/Arenaire\/Ware\/FPLibrary\/."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/3\/483\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:28:33Z","timestamp":1760185713000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/3\/483"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,1,24]]},"references-count":26,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2019,2]]}},"alternative-id":["s19030483"],"URL":"https:\/\/doi.org\/10.3390\/s19030483","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2019,1,24]]}}}