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Minimal-Drift Heading Measurement using a MEMS Gyro for Indoor Mobile Robots
Dept. of Aerospace Engineering, Sejong University, Seoul, 143-747, Korea
* Author to whom correspondence should be addressed.
Received: 10 October 2008; in revised form: 12 November 2008 / Accepted: 14 November 2008 / Published: 17 November 2008
Abstract: To meet the challenges of making low-cost MEMS yaw rate gyros for the precise self-localization of indoor mobile robots, this paper examines a practical and effective method of minimizing drift on the heading angle that relies solely on integration of rate signals from a gyro. The main idea of the proposed approach is consists of two parts; 1) self-identification of calibration coefficients that affects long-term performance, and 2) threshold filter to reject the broadband noise component that affects short-term performance. Experimental results with the proposed phased method applied to Epson XV3500 gyro demonstrate that it effectively yields minimal drift heading angle measurements getting over major error sources in the MEMS gyro output.
Keywords: MEMS gyro; heading angle; drift; self-identification; threshold filter
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Cite This Article
MDPI and ACS Style
Hong, S.K.; Park, S. Minimal-Drift Heading Measurement using a MEMS Gyro for Indoor Mobile Robots. Sensors 2008, 8, 7287-7299.
Hong SK, Park S. Minimal-Drift Heading Measurement using a MEMS Gyro for Indoor Mobile Robots. Sensors. 2008; 8(11):7287-7299.
Hong, Sung K.; Park, Sungsu. 2008. "Minimal-Drift Heading Measurement using a MEMS Gyro for Indoor Mobile Robots." Sensors 8, no. 11: 7287-7299.