Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
USE OF MULTIPLE INERTIAL MEASUREMENT UNITS FOR INERTIAL NAVIGATION
Submission Author:
José Maurício Santos Torres da Motta , DF , Brazil
Co-Authors:
Gilberto de Oliveira Costa, José Maurício Santos Torres da Motta
Presenter: Gilberto de Oliveira Costa
doi://10.26678/ABCM.COBEM2019.COB2019-0703
Abstract
Mobile robots and other vehicles often can not have their movements fully described by the use of odometry, or other simpler ways of measuring the velocities of their actuators. For a good description of the movement of robots and other vehicles, it is possible to use inertial sensors, which allow the calculation of the position and orientation, without the dependence of signals appropriate to the calculation provided by the actuators. An approach to the use of multiple inertial sensors for the instantaneous center of rotation measurement can be used to describe the motion of vehicles where the non-slip feature can not be guaranteed. In order for low-cost accelerometers to be used for inertial navigation, they must be properly calibrated and their construction errors properly compensated. The task of identifying the correction parameters for the inertial measurement sensors can be performed using the Levenberg-Marquadt algorithm, a numerical algorithm for the solution of nonlinear equations.
Keywords
inertial navigation, Inertial Measurement Units, Sensor Fusion, Mobile robotics, skid-steering robots
