Distance Sensor and Wheel Encoder Sensor Fusion Method for Gyroscope Calibration

Abstract

MEMS gyroscopes are widely used as an alternative to the more expensive industrial IMUs. The instability of the lower cost MEMS gyroscopes creates a large demand for calibration algorithms. This paper provides an overview of existing calibration methods and describes the various types of errors found in gyroscope data. The proposed calibration method for gyroscope constants provides higher accuracy than datasheet constants. Furthermore, we show that using a different constant for each direction provides even higher accuracy.

Key technologies of automatic operation control logic for urban rail transit comprehensive inspection trainset

“…The H25D encoder is a type of speed sensor installed on the wheel axle of a comprehensive inspection trainset and connected to the control system inside the trainset. When the encoder rotates with the wheels, it outputs positive or negative mileage values to the control system by sensing forward or reverse rotation [5] . Figure 6 is a schematic diagram of the logic for obtaining trainset activation information from the H25D encoders.…”