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

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Proceeding (Non-Journal item)

Abstract

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.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Proceedings
EditorsRoderich Groß, Lyuba Alboul, Jacques Penders, Chris Melhuish, Mark Witkowski, Tony J. Prescott
Pages378-379
Number of pages2
ISBN (Electronic)978-3-642-23232-9
DOIs
Publication statusPublished - 2011
Event12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011 - Sheffield, United Kingdom of Great Britain and Northern Ireland
Duration: 31 Aug 201102 Sept 2011

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume6856 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011
Country/TerritoryUnited Kingdom of Great Britain and Northern Ireland
CitySheffield
Period31 Aug 201102 Sept 2011

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