Title :
MIMU and Its Application in Mobile Robot´s Self-localization
Author :
Guangming, Jin ; Guoliang, Zhang ; Linpeng, Chen ; Qi, Tian
Author_Institution :
Second Artillery Eng. Coll., Xi´´an
fDate :
Aug. 16 2007-July 18 2007
Abstract :
This paper introduces principal of micro inertial measurement unit (MIMU), designs a arrange form of MIMU. According to lots of experiment data, the gyroscope´s drift and accelerometer´s warp are analyzed, and provides an AR(1) model. After Kalman filtering, the simulation results show that the bias of MIMU reduces to one tenth of the original, and prove this methodological feasible.
Keywords :
Kalman filters; accelerometers; gyroscopes; mobile robots; AR(1) model; Kalman filtering; MEMS; MIMU; accelerometer; gyroscope; micro inertial measurement unit; mobile robot´s self-localization; Accelerometers; Costs; Inertial navigation; Intelligent robots; Machine vision; Micromechanical devices; Mobile robots; Robot kinematics; Robot sensing systems; Robot vision systems; MIMU; RoboCup; inertial navigation; self-localization;
Conference_Titel :
Electronic Measurement and Instruments, 2007. ICEMI '07. 8th International Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-1136-8
Electronic_ISBN :
978-1-4244-1136-8
DOI :
10.1109/ICEMI.2007.4351230
