Feasibility Study of a Partial Gyro-Free Inertial Navigation System Mounted on a Ground Robot

被引：0
|
作者：
Zemer, Hadar [1 ]
Sarel, Reut [1 ]
Klein, Itzik [1 ]
机构：
[1] Technion Israel Inst Technol, Haifa, Israel
来源：
2019 27TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2019年
关键词：
D O I：
10.1109/med.2019.8798581
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Gyro-free Inertial Navigation System (GFINS) uses only linear accelerometers in order to determine the linear and angular acceleration vectors. However, for ground robot applications, such a system is redundant and adds unnecessary errors of irrelevant accelerometers. To circumvent this, a partial GFINS configuration is proposed. In the partial configuration only accelerations relevant for two-dimensional ground navigation are employed. A demonstration of the advantages of a partial system compared to the redundant system is provided. The comparison is made using quality factor calculations, simulation and field experiments.
引用
收藏
页码：524 / 529
页数：6
相关论文
共 50 条
  • [21] Design and analysis of an orientation estimation system using coplanar gyro-free inertial measurement unit and magnetic sensors
    Kao, C. F.
    Chen, T. L.
    SENSORS AND ACTUATORS A-PHYSICAL, 2008, 144 (02) : 251 - 262
  • [22] Angular Motion Estimation Using Dynamic Models in a Gyro-Free Inertial Measurement Unit
    Edwan, Ezzaldeen
    Knedlik, Stefan
    Loffeld, Otmar
    SENSORS, 2012, 12 (05): : 5310 - 5327
  • [23] Design and analysis of a fault-tolerant coplanar gyro-free inertial measurement unit
    Chen, Tsung-Lin
    JOURNAL OF MICROELECTROMECHANICAL SYSTEMS, 2008, 17 (01) : 201 - 212
  • [24] Accelerometer based gyro-free multi-sensor generic inertial device for automotive applications
    Mostov, KS
    Soloviev, AA
    Koo, TKJ
    IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, 1997, : 1047 - 1052
  • [25] Using Single-Camera Geometry to Perform Gyro-free Navigation and Attitude Determination
    Zhu, Zhen
    Bhattacharya, Sumit
    de Haag, Maarten Uijt
    Pelgrum, Wouter
    2010 IEEE-ION POSITION LOCATION AND NAVIGATION SYMPOSIUM PLANS, 2010, : 202 - 211
  • [26] On the theory of optical gyro rotating inertial navigation system
    College of Optoelectro Science and Engineering, National Univ. of Defense Technology, Changsha 410073, China
    Guofang Keji Daxue Xuebao, 2006, 6 (76-80):
  • [27] Foot mounted inertial system for pedestrian navigation
    Godha, S.
    Lachapelle, G.
    MEASUREMENT SCIENCE AND TECHNOLOGY, 2008, 19 (07)
  • [28] Influence of Warpage on the State Estimation of a MEMS-Based Gyro-Free Inertial Measurement Unit
    Yu, Shuai
    Liu, Chaojun
    Zhang, Shengzhi
    Yuan, Xuebing
    Dan, Qiang
    Liu, Sheng
    2014 15TH INTERNATIONAL CONFERENCE ON ELECTRONIC PACKAGING TECHNOLOGY (ICEPT), 2014, : 43 - 47
  • [29] Smart-MEMS based inertial measurement units: gyro-free approach to improve the grade
    Chatterjee, Gaurav
    Latorre, Laurent
    Mailly, Frederick
    Nouet, Pascal
    Hachelef, Nacim
    Oudea, Coumar
    MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS, 2017, 23 (09): : 3969 - 3978
  • [30] Smart-MEMS based inertial measurement units: gyro-free approach to improve the grade
    Gaurav Chatterjee
    Laurent Latorre
    Frédérick Mailly
    Pascal Nouet
    Nacim Hachelef
    Coumar Oudea
    Microsystem Technologies, 2017, 23 : 3969 - 3978
12345