NDLI: Compact self-contained navigation system with MEMS inertial sensor and optical navigation sensor for 3-D pipeline mapping

Content Provider	IEEE Xplore Digital Library
Author	Dongjun Hyun Minsu Jegal Hyun Seok Yang
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, Yonsei University, 262, Seongsanno, Seodamun-gu, Seoul, 120-749, Korea (Dongjun Hyun; Minsu Jegal; Hyun Seok Yang)
Abstract	We propose a compact self-contained navigation system with Micro-Electro-Mechanical System (MEMS) inertial sensor and optical navigation sensor for 3-D pipeline mapping. Self-contained navigation system have advantages of robust against severe environmental conditions and also wide applications without external assist such as Global Positioning System (GPS) navigation or localization system based on a map. The goal of this study is to overcome the performance limitations of small, low-grade sensors by combining various sensors with complementary functions and, therefore, to achieve robust tracking performance against severe environmental conditions. The multi-rate EKF solves the frequent outage problem of the optical navigation sensors and the bias drift problem of the MEMS accelerometers. The vector matching algorithm with the gravity field vector solves the bias drift problem of the MEMS gyro except for the yaw in the reference axis. The geometry compensation algorithm minimizes position errors by combining the forward and backward estimation results geometrically. Experiments to verify performance are conducted by driving Radio-Controlled (RC) car equipped with the proposed navigation system on 3-D asphalt pavement. Experimental results show that the proposed navigation system has good performance and estimated position errors are less than one percent, in the range of 855 m. The proposed navigation system can contribute a compact size and robustness not only to 3-D pipeline mapping but also to small mobile robots.
Starting Page	1488
Ending Page	1493
File Size	1567867
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649766
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Optical sensors Adaptive optics Optical filters Estimation Optical imaging Nonlinear optics
Content Type	Text
Resource Type	Article

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