TY - GEN
T1 - An approach to improving attitude estimation based on low-cost MEMS-IMU for mobile robot navigation
AU - Lou, Lu
AU - Neal, Mark
AU - Labrosse, Frédéric
AU - Cao, Juan
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=80052810768&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-23232-9_36
DO - 10.1007/978-3-642-23232-9_36
M3 - Conference Proceeding (Non-Journal item)
AN - SCOPUS:80052810768
SN - 9783642232312
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 378
EP - 379
BT - Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Proceedings
A2 - Groß, Roderich
A2 - Alboul, Lyuba
A2 - Penders, Jacques
A2 - Melhuish, Chris
A2 - Witkowski, Mark
A2 - Prescott, Tony J.
T2 - 12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011
Y2 - 31 August 2011 through 2 September 2011
ER -