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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hakyoung Chung Ojeda, L. Borenstein, J. |
| Copyright Year | 2001 |
| Description | Author affiliation: Dept. of Control & Instrum. Eng., Seoul Nat. Univ. of Technol., South Korea (Hakyoung Chung) |
| Abstract | Fiber optic gyros with very low drift rates have become available and affordable. Because of their low drift rate attention is warranted to sources of errors that were previously considered as of secondary importance. In the KVH E-Core RD2100 gyros, we found that the temperature dependency and the non-linearity of the scale-factor caused significant errors. A precision calibration procedure, described in the paper, reduces the resulting errors by one order of magnitude. In addition to the calibration procedure, we integrated the gyro with the odometry system of a four-wheel drive, skid-steer Pioneer AT mobile robot by means of an indirect feedback Kalman filter that fuses the sensor data from both sensor modalities. Based on our experimental results the paper compares the relative effectiveness of both enhancements (precision gyro calibration and Kalman filter). |
| Sponsorship | IEEE Robotics & Autom. Soc |
| Starting Page | 3588 |
| Ending Page | 3593 |
| File Size | 524719 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780365763 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2001.933174 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2001-05-21 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Sensor fusion Mobile robots Optical fibers Gyroscopes Calibration Sensor systems Costs Temperature sensors Optical control Instruments |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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