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      Evaluation of solid-state gyroscope for robotics applications

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      Author(s)
      Barshan, B.
      Durrant-Whyte, H. F.
      Date
      1995-02
      Source 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
      Article
      Item 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 circuits
      Gyroscopes
      Robot sensing systems
      Mobile robots
      Sensor phenomena and characterization
      Accelerometers
      Inertial navigation
      Error compensation
      Vehicle dynamics
      Position measurement
      Permalink
      http://hdl.handle.net/11693/10757
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/19.368102
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      • Department of Electrical and Electronics Engineering 4012
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