Evaluation of solid-state gyroscope for robotics applications
Date
1995-02Source Title
IEEE Transactions on Instrumentation and Measurement
Print ISSN
0018-9456
Electronic ISSN
1557-9662
Publisher
Institute of Electrical and Electronics Engineers
Volume
44
Issue
1
Pages
61 - 67
Language
English
Type
ArticleItem Usage Stats
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Abstract
he evaluation of a low-cost solid-state gyroscope
for robotics applications is described. An error model for the
sensor is generated and included in a Kalman filter for estimating
the orientation of a moving robot vehicle. Orientation eshation
with the error model is compared to the performance when the
error model is excluded from the system. The results demonstrate
that without error compensation, the error in localization is
between 5-15"/min but can be improved at least by a factor
of 5 if an adequate error model is supplied. Like all inertial
systems, the platform requires additional information from some
absolute position-sensing mechanism to overcome long-term drift.
However, the results show that with careful and detailed modeling
of error sources, inertial sensors can provide valuable orientation
information for mobile robot applications.
Keywords
Solid state circuitsGyroscopes
Robot sensing systems
Mobile robots
Sensor phenomena and characterization
Accelerometers
Inertial navigation
Error compensation
Vehicle dynamics
Position measurement