An approach to improving attitude estimation based on low-cost MEMS-IMU for mobile robot navigation

Lu Lou*, Mark Neal, Frédéric Labrosse, Juan Cao

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

Crynodeb

An inertial measurement unit (IMU) is an electronic device to measure vehicle states like attitude, orientation, velocity, and position. Recently, many low-cost micro electro mechanical systems (MEMS) IMUs have emerged for only several hundred US dollars [1]. These MEMS-IMUs usually consist of three-axis accelerometers,gyros and magnetometers. In comparison to high-end IMUs (usually used in aerospacecrafts, missiles, rockets and artificial satellites), an entire Inertial Navigation System (INS) can be implemented with smaller size/volume, lower weight and costs. In exchange, they have a rather low accuracy performance due to their large systematic errors such as biases, scale factors and drifts, which are strongly dependent on disturbance and temperature. Hence, the raw signal output of a low cost IMU must be processed to reconstruct smoothed attitude estimates. For many of the mobile robot navigation considered the algorithms need to run on embedded processors with low memory and processing resources.

Iaith wreiddiolSaesneg
TeitlTowards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Proceedings
GolygyddionRoderich Groß, Lyuba Alboul, Jacques Penders, Chris Melhuish, Mark Witkowski, Tony J. Prescott
Tudalennau378-379
Nifer y tudalennau2
ISBN (Electronig)978-3-642-23232-9
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 2011
Digwyddiad12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011 - Sheffield, Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Hyd: 31 Awst 201102 Medi 2011

Cyfres gyhoeddiadau

EnwLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Cyfrol6856 LNAI
ISSN (Argraffiad)0302-9743
ISSN (Electronig)1611-3349

Cynhadledd

Cynhadledd12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011
Gwlad/TiriogaethTeyrnas Unedig Prydain Fawr a Gogledd Iwerddon
DinasSheffield
Cyfnod31 Awst 201102 Medi 2011

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