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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Vaganay, J. Aldon, M.J. Fournier, A. |
| Copyright Year | 1993 |
| Description | Author affiliation: Montpellier II Univ., France (Vaganay, J.; Aldon, M.J.; Fournier, A.) |
| Abstract | An attitude estimation system based on inertial measurements for a mobile robot is described. Five low-cost inertial sensors are used: two accelerometers and three gyros. The robot's attitude, represented by its roll and pitch angles, can be obtained using two different methods. The first method is based on accelerometric measurements of gravity. The second one proceeds by integration of the differential equation relating the robot's attitude and its instantaneous angular velocity which is measured by the gyrometers. The results of these two methods are fused, using an extended Kalman filter. Experimental results show that the resulting system is very sensitive and accurate. |
| Starting Page | 277 |
| Ending Page | 282 |
| File Size | 484458 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818634502 |
| DOI | 10.1109/ROBOT.1993.291995 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1993-05-02 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Mobile robots Robot sensing systems Accelerometers Gravity Navigation Acceleration Angular velocity Velocity measurement Remotely operated vehicles Land vehicles |
| Content Type | Text |
| Resource Type | Article |
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