Space recognition is a crucial issue for autonomous systems such as unmanned aerial vehicles, walking robots, and autonomous cars. These systems are necessary to obtain information using a camera while moving. However, reduction in recognition accuracy and system size increase has created problems.To solve these problems, we proposed the three-degree-of-freedom (DOF) actuator for image stabilization. This paper proposes a novel initial position estimation method and sensorless attitude estimation method for the three-DOF actuator to further downsize and reduce weight. The effectiveness of the proposed methods is verified by a magnetic field analysis, using a three-dimensional finite element method and numerical simulations.

中文翻译：

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用于图像稳定的三自由度执行器的无传感器姿态估计

对于无人驾驶飞机，步行机器人和自动驾驶汽车等自主系统而言，空间识别是至关重要的问题。这些系统对于在移动时使用相机获取信息是必不可少的。然而，识别精度的下降和系统尺寸的增加带来了问题。为了解决这些问题，我们提出了用于图像稳定的三自由度（DOF）致动器。针对三自由度执行器，提出了一种新颖的初始位置估计方法和无传感器姿态估计方法，以进一步减小尺寸并减轻重量。通过磁场分析，使用三维有限元方法和数值模拟，验证了所提出方法的有效性。