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Author:

Dong, Mingjie (Dong, Mingjie.) | Yao, Guodong (Yao, Guodong.) | Li, Jianfeng (Li, Jianfeng.) (Scholars:李剑锋) | Zhang, Leiyu (Zhang, Leiyu.)

Indexed by:

EI Scopus SCIE

Abstract:

To better solve the attitude of robots with high precision using low cost inertial measurement unit (IMU), we design novel calibration methods, namely twelve positions calibration method, method based on ellipsoid fitting and eight positions calibration method, to effectively calibrate accelerometer, magnetometer and gyroscope, respectively. An attitude estimator using data from the multi-sensors calibrated by our proposed methods was designed based on Kalman Filter, with its estimated value of the attitude prediction deviation fed back to the predicted value as the prediction deviation at the end of each filtering period. Finally, relevant experiments are designed to verify the validity of the proposed attitude solution method as well as the proposed calibration methods, with results showing that the roll and pitch angle measured by the attitude measurement unit have an effective resolution of 0.1 degrees and the yaw angle has an effective resolution of 1 degrees. The innovation of this paper is that the proposed calibration methods can be carried out with simple tools, eliminating the need for expensive and complicated multi-axis turntables, and the designed attitude measurement unit based on calibrated low cost IMU's inertial sensors has smaller size, higher resolution in roll and pitch, and much lower cost compared with the commercial MTi-G-710. The accuracy of the attitude solution for such IMU is high enough for the application on robots.

Keyword:

Twelve positions calibration Attitude solution Ellipsoid fitting Inertial measurement unit Eight positions calibration

Author Community:

  • [ 1 ] [Dong, Mingjie]Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, 100 Pingleyuan, Beijing, Peoples R China
  • [ 2 ] [Zhang, Leiyu]Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, 100 Pingleyuan, Beijing, Peoples R China
  • [ 3 ] [Li, Jianfeng]Beijing Univ Technol, 100 Pingleyuan, Beijing, Peoples R China
  • [ 4 ] [Yao, Guodong]Chinese Acad Sci, Inst Elect Engn, Beijing, Peoples R China

Reprint Author's Address:

  • 李剑锋

    [Li, Jianfeng]Beijing Univ Technol, 100 Pingleyuan, Beijing, Peoples R China

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Source :

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

ISSN: 0921-0296

Year: 2020

Issue: 3-4

Volume: 100

Page: 1015-1029

3 . 3 0 0

JCR@2022

ESI Discipline: ENGINEERING;

ESI HC Threshold:115

Cited Count:

WoS CC Cited Count: 13

SCOPUS Cited Count: 22

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 0

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