Embeded smart sensor: System design and application

This paper proposed an embedded smart sensor which is consisted of a 6 DOF(Degree Of Free) IMU(Inertial Measurement Unit), a 3-axis magnetic compass, a monocular camera and a DSP processor which is high performance and power saved, and briefly discussed the design and construction of the system's hardware. By using this embedded smart sensor, we proposed a attitude determination method which is based on the quaternion and the epipolar geometry. The experimental results demonstrated the effectiveness of the methods.