Minimal-drift heading measurement using a MEMS gyro for indoor mobile robots

Sensors

Volumn 8, Issue 11, 2008, Pages 7287-7299

  Hong, Sung Kyung ^a   Park, Sungsu ^a  

^a Sejong University   (South Korea)

Author keywords

Drift; Heading angle; MEMS gyro; Self identification; Threshold filter

Indexed keywords

DRIFT; HEADING ANGLES; MEMS GYRO; SELF-IDENTIFICATION; THRESHOLD FILTER;

MOBILE ROBOTS;

GYROSCOPES;

EID: 56549099211     PISSN: 14248220     EISSN: None     Source Type: Journal    
DOI: 10.3390/s8117287     Document Type: Article

References (16)

1. Salazar-Cruz, S.; Escareno, J.; Lara, D., Lozano, R. Embedded control system for a four-rotor UAV. Int. J. Adapt. Control. Signal Process. 2007, 27, 189-204.
2. Mc Kerrow, P. Modeling the Dragan-flyer for-rotor helicopter. In Proc. of the 2004 IEEE Int. Conf. on Robotics & Automation, New Orleans, LA, 2004; pp. 3596-3601.
3. Barshan, B.; Durrant-Whyte, H.F. Inertial Navigation System for Mobile Robots. IEEE Trans. Robot. Autom. 1995, 11, 328-342.
4. De Ceceo, M. Sensor fusion of inertial-odometric navigation as a function of the actual maneuvers of autonomous guided vehicles. Meas. Sci. Tech. 2003, 14, 643-653.
5. Jetto, L.; Longhi, S.; Vitali, D. Localization of a wheeled mobile robot by sensor data fusion based on a fuzzy logic adapted Kalman filter. Cont. Eng. Prac. 1999, 7, 763-771.
6. Yazdi, N.; Ayazi, F.; Najafi, K. Micromachined Inertial Sensors. Proc. IEEE 1998, 5(5(8), 1640-1659.
7. Chung, H.; Ojeda, L.; Borenstein, J. Accurate Mobile Robot Dead-reckoning with a Precision-calibrated Fiber Optic Gyroscope. IEEE Trans. Robot. Autom. 2001, 17, 80-84.
8. Hong, S. K. Compensation of Nonlinear Thermal Bias Drift of Resonant Rate Sensor (RRS) using Fuzzy Logic. Sens. Actuat. A-Phys. 1999, 78, 143-148.
9. Skaloud, J.; Bruton, A. M.; Schwarz, K. P. Detection and Filtering of Short-Term noise in Inertial Sensors. J Inst. Nav. 1999, 46, 97-107.
10. Hong, S. K. Fuzzy Logic based Closed-Loop Strapdown Attitude System for Unmanned Aerial Vehicle (UAV). Sens. Actuat. A-Phys. 2003, 107, 109-118.
11. Stilwell, D.J.; Wick, C.E.; Bishop, B.E.; Small Inertial Sensors for a Miniature Autonomous Underwater Vehicle. In Proc. of IEEE Int. Conf. on Control Applications, Mexico, 2001; pp. 841-846.
12. Angular Rate Sensor ADXRS300 Data sheets, Rev. B. Analog Devices Inc: Norwood, MA, USA, 2004
13. Barbour, N.; Schmidt, G. Inertial Sensor Technology Trends. IEEE Sens. J. 2001, 1, 332-339.
14. nd Ed.; AIAA: Reston, VA, USA, 2004.
15. Pittelkau, M.E. Kalman Filtering for Spacecraft System Alignment Calibration. AIAA J. Guid. Contro. Dynam. 2001, 24, 109-118.
16. Lam, Q.; Stamatakos, N.; Woodruff, C.; Ashton, S. Gyro Modeling and Its Random Noise Estimation. In Proc. of the AIAA GN&C Conference, 2003; pp. 841-846.