Evaluation of solid-state gyroscope for robotics applications

dc.citation.epage67en_US
dc.citation.issueNumber1en_US
dc.citation.spage61en_US
dc.citation.volumeNumber44en_US
dc.contributor.authorBarshan, B.en_US
dc.contributor.authorDurrant-Whyte, H. F.en_US
dc.date.accessioned2015-07-28T11:55:41Z
dc.date.available2015-07-28T11:55:41Z
dc.date.issued1995-02en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.description.abstracthe 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.en_US
dc.identifier.doi10.1109/19.368102en_US
dc.identifier.eissn1557-9662
dc.identifier.issn0018-9456
dc.identifier.urihttp://hdl.handle.net/11693/10757
dc.language.isoEnglishen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/19.368102en_US
dc.source.titleIEEE Transactions on Instrumentation and Measurementen_US
dc.subjectSolid state circuitsen_US
dc.subjectGyroscopesen_US
dc.subjectRobot sensing systemsen_US
dc.subjectMobile robotsen_US
dc.subjectSensor phenomena and characterizationen_US
dc.subjectAccelerometersen_US
dc.subjectInertial navigationen_US
dc.subjectError compensationen_US
dc.subjectVehicle dynamicsen_US
dc.subjectPosition measurementen_US
dc.titleEvaluation of solid-state gyroscope for robotics applicationsen_US
dc.typeArticleen_US
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