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Inertial navigation systems for mobile robots
Open accessAbstract
A low-cost solid-state inertial navigation system (INS) for mobile robotics applications is described. Error models for the inertial sensors are generated and included in an extended Kalman filter (EKF) for estimating the position and orientation of a moving robot vehicle. Two different solid-state gyroscopes have been evaluated for estimating the orientation of the robot. Performance of the gyroscopes with error models is compared to the performance when the error models are excluded from the system. Similar error models have been developed for each axis of a solid-state triaxial accelerometer and for a conducting-bubble tilt sensor which may also be used as a low-cost accelerometer. An integrated inertial platform consisting of three gyroscopes, a triaxial accelerometer and two tilt sensors is described.>
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Cited by
Measuring orientation of human body segments using miniature gyroscopes and accelerometers
Luinge, H. J., & Veltink, P. H. (2005) · Medical & Biological Engineering & Computing · doi:10.1007/bf02345966 · Cited by 647
Mobile robot positioning: Sensors and techniques
Borenstein, J., Everett, H. R., Feng, L., & Wehe, D. (1997) · Journal of Robotic Systems · doi:10.1002/(sici)1097-4563(199704)14:4<231::aid-rob2>3.0.co;2-r · Cited by 601
Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs
Valenti, R., Dryanovski, I., & Xiao, J. (2015) · Sensors · doi:10.3390/s150819302 · Cited by 357
Dejnabadi, H., Jolles, B. M., Casanova, E., Fua, P., & Aminian, K. (2006) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2006.873678 · Cited by 189
Nonlinear Regression Model of aLow-$g$ MEMS Accelerometer
Ang, W. T., Khosla, P. K., & Riviere, C. N. (2007) · IEEE Sensors Journal · doi:10.1109/jsen.2006.886995 · Cited by 100
Metadata
- Authors
- Barshan, B., & Durrant-Whyte, H. F.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1995-06
- Volume
- 11
- Issue
- 3
- Pages
- 328-342
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2109453544
- Cited by
- 723
- References
- 0
- FWCI
- 28.59
- Type
- journal article
- Language
- en
- Open access
- green
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