Evaluation of a solid-state gyroscope for robotics applications

Author

Barshan, Billur ; Durrant-Whyte, Hugh F.

Author_Institution

Dept. of Electr. Eng., Bilkent Univ., Ankara, Turkey

Volume

44

Issue

1

fYear

1995

fDate

2/1/1995 12:00:00 AM

Firstpage

61

Lastpage

67

Abstract

The evaluation of a low-cost solid-state gyroscope for robotics applications is described. An error model for the sensor is generated and included in a Kalman filter for estimating the orientation of a moving robot vehicle. Orientation estimation with the error model is compared to the performance when the error model is excluded from the system. The results demonstrate that without error compensation, the error in idealization is between 5-15°/min but can be improved at least by a factor of 5 if an adequate error model is supplied. Like all inertial systems, the platform requires additional information from some absolute position-sensing mechanism to overcome long-term drift. However, the results show that with careful and detailed modeling of error sources, inertial sensors can provide valuable orientation information for mobile robot applications

Keywords

accelerometers; computerised navigation; gyroscopes; inertial navigation; mobile robots; position control; Kalman filter; START gyroscope; absolute position-sensing; error compensation; error model; inertial systems; long-term drift; mobile robot; modeling of error sources; moving robot vehicle; orientation estimation; robotics applications; solid state angular rate transducer; solid-state gyroscope; Accelerometers; Error compensation; Gyroscopes; Inertial navigation; Mobile robots; Position measurement; Robot sensing systems; Sensor phenomena and characterization; Solid state circuits; Vehicle dynamics;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.368102

Filename

368102