Feasibility Study of a Partial Gyro-Free Inertial Navigation System Mounted on a Ground Robot

被引：0
|
作者：
Zemer, Hadar [1 ]
Sarel, Reut [1 ]
Klein, Itzik [1 ]
机构：
[1] Technion Israel Inst Technol, Haifa, Israel
来源：
2019 27TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2019年
关键词：
D O I：
10.1109/med.2019.8798581
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Gyro-free Inertial Navigation System (GFINS) uses only linear accelerometers in order to determine the linear and angular acceleration vectors. However, for ground robot applications, such a system is redundant and adds unnecessary errors of irrelevant accelerometers. To circumvent this, a partial GFINS configuration is proposed. In the partial configuration only accelerations relevant for two-dimensional ground navigation are employed. A demonstration of the advantages of a partial system compared to the redundant system is provided. The comparison is made using quality factor calculations, simulation and field experiments.
引用
收藏
页码：524 / 529
页数：6
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