Evaluation of solid-state gyroscope for robotics applications

Date
1995-02
Authors
Barshan, B.
Durrant-Whyte, H. F.
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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
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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.

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