The 9th IEEE International Conference on Nano/Micro Engineered and Molecular Systems (NEMS) 2014
DOI: 10.1109/nems.2014.6908769
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Precision improvement of MEMS gyros for indoor mobile robots with horizontal motion inspired by methods of TRIZ

Abstract: − In the paper, the problem of precision improvement for the MEMS gyrosensors on indoor robots with horizontal motion is solved by methods of TRIZ ("the theory of inventive problem solving").

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Cited by 6 publications
(4 citation statements)
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“…In this paper, we describe correct operation of autopilot for supply desirable drone flight (movement of a drone in a vertical plane at a constant height). For the finding drone, flight parameters were used vision-based navigation [11][12][13][14][15][16][17][18][19][20]. For realization vision-based navigation was developed the computer program "Video-navigation of UAV over relief" [11].…”
Section: The Adaptation Of This Mathematical Theory For Dronementioning
confidence: 99%
“…In this paper, we describe correct operation of autopilot for supply desirable drone flight (movement of a drone in a vertical plane at a constant height). For the finding drone, flight parameters were used vision-based navigation [11][12][13][14][15][16][17][18][19][20]. For realization vision-based navigation was developed the computer program "Video-navigation of UAV over relief" [11].…”
Section: The Adaptation Of This Mathematical Theory For Dronementioning
confidence: 99%
“…Two common approaches for the navigation problem are the landmarks [11,12]. And the ego-motion integration [13][14][15][16][17].…”
Section: Introductionmentioning
confidence: 99%
“…With the current state of the art of MEMS technology, the accuracy of gyroscopes is not good enough for deriving heading estimation over longer terms because of their large biases and scale factors [ 27 , 28 ]. An effective method of minimizing drift in the heading estimation that relies solely on integration of rate signals from a gyro was examined to meet the challenges of making low-cost MEMS gyroscopes for the precise self-localization of indoor mobile robots [ 28 , 29 ]. Ali et al proposed to use a Kalman filter algorithm of fusing low-cost MEMS gyroscope and magnetometer in a smartphone to obtain heading estimation with quaternion mechanization [ 30 ].…”
Section: Introductionmentioning
confidence: 99%
“…To meet the requirements of accurate indoor heading estimation using a low-cost MEMS strapdown inertial navigation system, an effective method of quaternion-based UKF algorithm has been proposed. The quaternion-based UKF algorithm has the following advantages over the general Kalman filter and EKF [ 27 , 28 , 29 , 30 , 31 , 32 , 33 , 34 , 35 , 36 , 42 , 43 , 44 , 45 , 46 ]: (1) The quaternion-based orientation of an object has no singularities when the pitch angle passes through ± π /2 than Euler angles or Direction Cosine Matrix (DCM); (2) Quaternion-based matrix transformation has higher computational efficiency than Euler angles and DCM, and it is more suitable for our low cost MEMS multi-sensor system; (3) EKF models are linearized through a first order Taylor series expansion of the process/measurement models around the current state estimate, meanwhile, Jacobian matrix computation is quite complex; but UKF is second order approximation, which has capability of dealing with large and small attitude errors.…”
Section: Introductionmentioning
confidence: 99%