DocumentCode
1800616
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
fYear
2007
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICEMI.2007.4351230
Filename
4351230
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