An inertial measurement unit (IMU) is an electronic device to measure vehicle states like attitude, orientation, velocity, and position. Recently, many low-cost micro electro mechanical systems (MEMS) IMUs have emerged for only several hundred US dollars. These MEMS-IMUs usually consist of three-axis accelerometers,gyros and magnetometers. In comparison to high-end IMUs (usually used in aerospacecrafts, missiles, rockets and artificial satellites), an entire Inertial Navigation System (INS) can be implemented with smaller size/volume, lower weight and costs. In exchange, they have a rather low accuracy performance due to their large systematic errors such as biases, scale factors and drifts, which are strongly dependent on disturbance and temperature. Hence, the raw signal output of a low cost IMU must be processed to reconstruct smoothed attitude estimates. For many of the mobile robot navigation considered the algorithms need to run on embedded processors with low memory and processing resources.
An Approach to Improving Attitude Estimation Based on Low-Cost MEMS-IMU for Mobile Robot Navigation
2011
2 Seiten
Aufsatz (Konferenz)
Englisch
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