Title :
Solid-state six degree of freedom, motion sensor for field robotic applications
Author :
Madni, Asad M. ; Bapna, Deepak ; Levin, Paul ; Krotkov, Eric
Author_Institution :
BEI Sensors & Syst. Co. Inc., Sylmar, CA, USA
Abstract :
A solid-state inertial measurement unit (IMU) referred to as the MotionPakTM is described. The IMU developed by BEI Sensors & Systems Company, consists of three micromachined quartz rate sensors and three accelerometers to provide a six degree of freedom (DOF), miniature, high reliability, low cost motion sensor which Carnegie Mellon University is utilizing to adapt to field robotic applications. Theory of operation and applications of the IMU are presented together with preliminary results in fusing the IMU data with a compass for a field robotics application
Keywords :
accelerometers; angular velocity measurement; gyroscopes; inertial navigation; mobile robots; motion control; motion measurement; path planning; piezoelectric transducers; Carnegie Mellon University; MotionPak; accelerometers; field robots; micromachined quartz rate sensors; solid-state inertial measurement unit; solid-state six degree of freedom motion sensor; Accelerometers; Costs; Extraterrestrial measurements; Global Positioning System; Jamming; Land vehicles; Road vehicles; Robot sensing systems; Sensor systems and applications; Solid state circuits;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724782
