Object pose measurement system based on MEMS IMU and method thereof

An object pose measurement method based on micro-electro-mechanical system (MEMS) inertial measurement unit (IMU), comprising:

• receiving respective original measurement data of a pose of an object from an accelerometer, a magnetometer and a gyroscope;
• calibrating signal scale and offset of the original measurement data to generate calibrated measurement data respectively for the accelerometer, the magnetometer and the gyroscope;
• based on the calibrated measurement data of the accelerometer and the magnetometer, establishing a direction cosine matrix (DCM), and converting the DCM into a representation of an accelerometer-and-magnetometer quaternion, and based on the calibrated measurement data of the gyroscope, establishing a gyroscope quaternion and performing an inverse conversion operation on the gyroscope quaternion to generate an inverse of the gyroscope quaternion;
• multiplying the inverse of the gyroscope quaternion and the accelerometer-and-magnetometer quaternion to generate a rotation error;
• based on the rotation error, using a control theory to calculate a quaternion rotation compensation amount for compensating a rotation of the object, and using the inverse of the gyroscope quaternion and the quaternion rotation compensation amount to perform quaternion rotation compensation to generate a rotated quaternion;
• and
• outputting the rotated quaternion as rotation compensated object vector information.