{"id":1226,"date":"2017-01-18T23:14:26","date_gmt":"2017-01-18T14:14:26","guid":{"rendered":"http:\/\/now0930.tk\/wordpress\/?p=1226"},"modified":"2020-06-27T21:26:03","modified_gmt":"2020-06-27T12:26:03","slug":"%ea%b0%80%ec%86%8d%eb%8f%84-%ec%84%bc%ec%84%9c%eb%a1%9c-pitch-roll-%ea%b5%ac%ed%95%98%ea%b8%b0","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/%ea%b0%80%ec%86%8d%eb%8f%84-%ec%84%bc%ec%84%9c%eb%a1%9c-pitch-roll-%ea%b5%ac%ed%95%98%ea%b8%b0\/","title":{"rendered":"\uac00\uc18d\ub3c4 \uc13c\uc11c\ub85c pitch, roll \uad6c\ud558\uae30"},"content":{"rendered":"<p>\uac00\uc18d\ub3c4 \uc13c\uc11c\ub85c pitch, roll \uc54c\uc544\ub0b4\uae30<br \/>\n\uc0dd\uac01\uc744 \uc815\ub9ac\ud558\uae30 \uc704\ud574\uc11c \uae30\ub85d\uc73c\ub85c \ub0a8\uae34\ub2e4..<\/p>\n<p>\ucc98\uc74c\uc5d0 3\ucd95 \uac00\uc18d\ub3c4 \uc13c\uc11c\uac00 \uc788\uc73c\uba74 pitch, roll, yaw\ub97c \uc54c \uc218 \uc788\ub2e4\uace0 \uc0dd\uac01\ud588\ub2e4. \uadf8\ub7ec\ub098 \uc774\ub294 \ubd88\uac00\ub2a5\ud558\ub2e4..<br \/>\n\uc544\ub798 \ubb38\uc11c\ub97c \uc77d\uc5b4\ubcf4\ub2c8 pitch\uc640 roll 2\uac1c\uc758 \uac12\ub9cc \uc54c \uc218 \uc788\ub2e4. \ub098\uba38\uc9c0 yaw\ub294 compass \uc13c\uc11c\ub85c \ud655\uc778\uc774 \uac00\ub2a5\ud558\ub2e4.<br \/>\n<a href=\"http:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/AN3461.pdf\">AN3461<\/a><\/p>\n<p>\uc704 \ubb38\uc11c\ub97c \uc77d\ub2e4 \ubcf4\uba74, \uc544\ub798\uc640 \uac19\uc740 \uc2dd\uc774 \uc5b4\ub5bb\uac8c \ub098\uc654\ub294\uc9c0 \ud30c\uc545\ud558\ub294\ub370 \uc880 \uac78\ub838\ub2e4.<br \/>\n<img loading=\"lazy\" decoding=\"async\" class=\"alignleft wp-image-1244 size-large\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/pitch_roll_eq3_4_5-1024x650.png\" alt=\"\" width=\"525\" height=\"333\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/pitch_roll_eq3_4_5-1024x650.png 1024w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/pitch_roll_eq3_4_5-300x191.png 300w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/pitch_roll_eq3_4_5-768x488.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/pitch_roll_eq3_4_5.png 1025w\" sizes=\"auto, (max-width: 525px) 100vw, 525px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignleft wp-image-1247 size-large\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/Office-Lens-20170118-225346-e1484747662376-1024x681.jpg\" alt=\"\" width=\"525\" height=\"349\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/Office-Lens-20170118-225346-e1484747662376-1024x681.jpg 1024w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/Office-Lens-20170118-225346-e1484747662376-300x199.jpg 300w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/Office-Lens-20170118-225346-e1484747662376-768x510.jpg 768w\" sizes=\"auto, (max-width: 525px) 100vw, 525px\" \/><br \/>\nx\ucd95\uc73c\ub85c \ub3cc\ub838\uc744 \uacbd\uc6b0(roll), y,z \ud3c9\uba74\uc73c\ub85c \ubcf4\uba74 \uc704\uc640 \uac19\uc740 \uadf8\ub9bc\uc774 \ub41c\ub2e4. \ub098\uba38\uc9c0\ub294 \uc548\ud574\ubd24\ub294\ub370, \uc544\ub9c8\ub3c4 \uc774\ub7f0 \uc2dd\uc73c\ub85c \ud558\uba74 \ub418\uc9c0 \uc54a\uc744\uae4c \ud55c\ub2e4. roll, pitch, yaw \uc801\uc6a9\ud558\ub294 \uc21c\uc11c\uc5d0 \ub530\ub77c 6\uac1c\uc758 \ubc29\uc815\uc2dd\uc774 \ub098\uc624\ub294\ub370, 4\uac1c\ub294 \ubabb\uc4f0\ub294 \uc2dd\uc774\ub2e4. \uacbd\uc6b0\uc758 \uc218\uac00 \ub108\ubb34 \ub9ce\uc544\uc11c \uadf8\ub7f0 \ub4ef \uc2f6\ub2e4. \ub098\uba38\uc9c0 2\uac1c\ub294 \uc0ac\uc6a9\ud560 \uc218 \uc788\ub294\ub370, \ub450 \uac1c\uc758 \uc2dd\uc774 \ub2e4\ub978 \uacb0\uacfc\ub97c \uac16\ub294\ub2e4.<img loading=\"lazy\" decoding=\"async\" class=\"alignleft wp-image-1248 size-large\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/aerospace_rotation_seq-1024x446.png\" alt=\"\" width=\"525\" height=\"229\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/aerospace_rotation_seq-1024x446.png 1024w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/aerospace_rotation_seq-300x131.png 300w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/aerospace_rotation_seq-768x335.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/aerospace_rotation_seq.png 1477w\" sizes=\"auto, (max-width: 525px) 100vw, 525px\" \/><br \/>\ntan(pi)\ub294 cos(theta)sin(pi)\/cos(theta)cos(pi)\ub85c \uac04\ub2e8\ud558\uac8c \uad6c\ud560 \uc218 \uc788\ub294\ub370, tan(theta)\ub294 3\uac1c\uc758 \uc2dd\uc744 G_px, G_py, G_pz\uc5d0 \ub300\ud574\uc11c \ud480\uc5b4\uc368\uc57c \ub41c\ub2e4.<\/p>\n<p>\uc554\ud2bc \ub0b4\uac00 \uac00\uc9c4 gyro+accelemeter\ub294 \ubc30\uce58\uac00 \uc544\ub798\uc640 \uac19\uc774 \ub418\uc5b4\uc788\ub2e4.<br \/>\n<img loading=\"lazy\" decoding=\"async\" class=\"alignleft wp-image-1229 size-large\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/IMU_Setup_Combined_Axes-1024x483.gif\" alt=\"\" width=\"525\" height=\"248\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/IMU_Setup_Combined_Axes-1024x483.gif 1024w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/IMU_Setup_Combined_Axes-300x141.gif 300w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/IMU_Setup_Combined_Axes-768x362.gif 768w\" sizes=\"auto, (max-width: 525px) 100vw, 525px\" \/><br \/>\nx\uc5d0\uc11c y\ub85c \uac08 \uacbd\uc6b0, z\uac00 \ub098\uc640\uc57c \ub418\ub294\ub370, \ub4e4\uc5b4\uac00\ub2c8 left handed coordinate system\uc778\ub4ef \ud55c\ub370..<br \/>\nX\ud45c\uc2dc\uac00 \ub4e4\uc5b4\uac00\ub294 \ubc29\ud5a5. \u25cf\uac00 \ub098\uc624\ub294 \ubc29\ud5a5\uc774\ub2e4.<br \/>\nleft handed, right handed coordinate<\/p>\n<figure id=\"attachment_1238\" aria-describedby=\"caption-attachment-1238\" style=\"width: 200px\" class=\"wp-caption alignleft\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1238 size-full\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/leftz.gif\" alt=\"\" width=\"200\" height=\"129\" \/><figcaption id=\"caption-attachment-1238\" class=\"wp-caption-text\">left handed<\/figcaption><\/figure>\n<figure id=\"attachment_1239\" aria-describedby=\"caption-attachment-1239\" style=\"width: 200px\" class=\"wp-caption alignleft\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1239 size-full\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/rightz.gif\" alt=\"\" width=\"200\" height=\"127\" \/><figcaption id=\"caption-attachment-1239\" class=\"wp-caption-text\">right handed<\/figcaption><\/figure>\n<p>\ubc30\uce58\ub41c \uadf8\ub9bc\uc758 z\ucd95\uc744 \ud754\ub4e4\ub9ac\uac8c \uc124\uce58\ub97c \ud588\ub2e4. z\ucd95\uc774 \ud68c\uc804\uc774\ub77c yaw\ub97c \uc54c\uc544\uc57c \ud55c\ub2e4\uace0 \ucc98\uc74c\uc5d0 \ud310\ub2e8 \ud588\uc73c\ub098, z\ucd95\uc744 x\ucd95\uc73c\ub85c \ubcc0\ud658\uc744 \ud558\uace0, roll\uc744 \uad6c\ud558\ub294 \ubc29\ubc95\uc73c\ub85c \ud574\uc57c \uaca0\ub2e4. \ub09c \ud55c\uac1c\uc758 \uac12\ub9cc \ud544\uc694\ud558\ub2c8..<br \/>\n\uba87\ubc88\uc758 \uc0bd\uc9c8\ub85c..\uc544\ub798 \uc2dd\uc744 \ucc38\uc870\ud558\uc5ec&#8230;\ub300\ub7b5 \uad6c\ud560 \uc218 \uc788\uc5c8\ub2e4.<\/p>\n<p><a href=\"http:\/\/engineering.stackexchange.com\/questions\/3348\/calculating-pitch-yaw-and-roll-from-mag-acc-and-gyro-data\">\uac00\uc18d\ub3c4 \uc13c\uc11c\ub85c \uac01\ub3c4\ub97c \uad6c\ud558\ub294 \uacf5\uc2dd..<\/a><\/p>\n<p>accelerationX = (signed int)(((signed int)rawData_X) * 3.9);<br \/>\naccelerationY = (signed int)(((signed int)rawData_Y) * 3.9);<br \/>\naccelerationZ = (signed int)(((signed int)rawData_Z) * 3.9);<br \/>\npitch = 180 * atan (accelerationX\/sqrt(accelerationY*accelerationY + accelerationZ*accelerationZ))\/M_PI;<\/p>\n<p>roll = 180 * atan (accelerationY\/sqrt(accelerationX*accelerationX + accelerationZ*accelerationZ))\/M_PI;<br \/>\n<a href=\"https:\/\/theccontinuum.com\/2012\/09\/24\/arduino-imu-pitch-roll-from-accelerometer\/\">roll = 180 * atan (-accelerationY\/accelerationZ) \/ M_PI;<\/a><\/p>\n<p>yaw = 180 * atan (accelerationZ\/sqrt(accelerationX*accelerationX + accelerationZ*accelerationZ))\/M_PI;<\/p>\n<p>\uc704 \uc2dd\uc774 \ud2c0\ub9b0 \ubd80\ubd84\ub3c4 \uc788\uc5b4 \ubcf4\uc778\ub2e4.<br \/>\nMMA7455L \uac00\uc18d\ub3c4 \uc13c\uc11c\ub97c \uc0ac\uc6a9\ud558\ub294\ub370, \ucca8\ubd80\ub85c data sheet\ub97c \ub123\uc5b4\ub454\ub2e4..<br \/>\n<a href=\"http:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2017\/01\/MMA7455L.pdf\">MMA7455L<\/a><br \/>\n\uc5ec\uae30\uc11c \ub354 \ub098\uac00\uba74, \uc13c\uc11c \ub4dc\ub77c\uc774\ubc84\ub97c \uc5b4\ub5bb\uac8c \uad6c\ud604\ud588\ub294\uc9c0\ub3c4 \ucc3e\uc544\ubd10\uc57c \ud560 \uac83\ub3c4 \uac19\ub2e4..<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\uac00\uc18d\ub3c4 \uc13c\uc11c\ub85c pitch, roll \uc54c\uc544\ub0b4\uae30 \uc0dd\uac01\uc744 \uc815\ub9ac\ud558\uae30 \uc704\ud574\uc11c \uae30\ub85d\uc73c\ub85c \ub0a8\uae34\ub2e4.. \ucc98\uc74c\uc5d0 3\ucd95 \uac00\uc18d\ub3c4 \uc13c\uc11c\uac00 \uc788\uc73c\uba74 pitch, roll, yaw\ub97c \uc54c \uc218 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":1229,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center 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