Design, geometry evaluation, and calibration of a gyroscope-free inertial measurement unit

Schopp, Patrick; Klingbeil, Lasse; Peters, Christian; Manoli, Yiannos

doi:10.1016/j.sna.2010.01.019

Cited by 56 publications

(26 citation statements)

References 20 publications

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“…3). The method of installation and the characteristic construction of the upper deck forced a constant slope around the transverse and longitudinal axis of the vessel [3,19,20,23,24]. The values of pitch (rotation around the side-to-side axis), roll (rotation around the front-to-back axis) also were changing during the scan because of the rolling of the ship, which -summed up with a constant slope -is presented in figures 4 and 5.…”

Section: Experiments Realization Methodsmentioning

confidence: 99%

Maritime Laser Scanning as the Source for Spatial Data

Szulwic

Burdziakowski

Janowski

et al. 2015

Polish Maritime Research

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Section: Experiments Realization Methodsmentioning

confidence: 99%

Maritime Laser Scanning as the Source for Spatial Data

Szulwic

Burdziakowski

Janowski

et al. 2015

Polish Maritime Research

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“…In contrast, gyroscopes can provide continuous angular velocity measurement, allowing to obtain continuous angular position using integration. However, the generated cumulative errors reduce the accuracy of the estimation along the time [16]. Finally, accelerometers are capable to provide information about the monitored robotic system in the form of linear acceleration, vibrations and attitude information using the constant gravity vector [11,15,18].…”

Section: Robot Kinematicsmentioning

confidence: 99%

Sensor Fusion for Joint Kinematic Estimation in Serial Robots Using Encoder, Accelerometer and Gyroscope

Munoz-Barron

Rivera-Guillen

Osornio-Ríos

et al. 2014

J Intell Robot Syst

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Open-chain manipulator robots play an important role in the industry, since they are utilized in applications requiring precise motion. Highperformance motion of a robot system mainly relies on adequate trajectory planning and the controller that coordinates the movement. The controller performance depends of both, the employed control law and the sensor feedback. Optical encoder feedback is the most used sensor for angular position estimation of each joint in the robot, since they feature accurate and low noise angular position measurements. However, it cannot detect mechanical imperfections and deformations common in open chain robots. Moreover, velocity and acceleration cannot be extracted from the encoder data without adding phase delays. Sensor fusion techniques are found to be a good solution for solving this problem. However, few works has been carried out in serial robots for kinematic estimation of angular position, velocity and acceleration, since the delays induced by the filtering techniques avoids its use as controller feedback. This work proposes a novel sensor-fusion-based feedback system capable of providing complete kinematic information from each joint in 4-degrees of freedom serial robot, with the contribution of a proposed methodology based on Kalman filtering for fusing the information from optical encoder, gyroscope and accelerometer appended to the robot. Calibration and experimentation are carried out for validating the proposal. The results are compared with another kinematic estimation technique finding that this proposal provides more information about the robot movement without adding state delays, which is important for being used as controller feedback.

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“…To overcome this problem, in [11] Parsa et al provided a solution for direct calculation of the angular velocity. In contrast to this, [12] and [13] applied Kalman filter (KF) to determine the correct angular velocity. In this paper, the unscented Kalman filter (UKF) is applied for state estimation of the proposed gyro-free IMU.…”

Section: Introductionmentioning

confidence: 99%

An effective unscented Kalman filter for state estimation of a gyro-free inertial measurement unit

Liu

Zhang

et al. 2014

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014

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This study reports a gyro-free inertial measurement unit (IMU) using solely four triaxial accelerometers. System equations and a configuration which is feasible for the gyro-free IMU design are presented. The propagation of accelerometer measurement errors is analyzed. An unscented Kalman filter (UKF) is proposed for state estimation. Simulation results show that the system state is robustly estimated by the proposed UKF. Furthermore, compared with the results of error analysis, the UKF provides effective error reductions on state estimation. The error of angular velocity estimation over full scale (FS) is about ±0.4%FS.

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Design, geometry evaluation, and calibration of a gyroscope-free inertial measurement unit

Cited by 56 publications

References 20 publications

Maritime Laser Scanning as the Source for Spatial Data

Maritime Laser Scanning as the Source for Spatial Data

Sensor Fusion for Joint Kinematic Estimation in Serial Robots Using Encoder, Accelerometer and Gyroscope

An effective unscented Kalman filter for state estimation of a gyro-free inertial measurement unit

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