Yaw Angle Measuring System of Omni-Directional Mobile Robot Based on EKF

Abstract:

Article Preview

For MEMS (Micro-Electro-Mechanical System) inertial sensor low precision, high noise and the characteristics of the gyroscope error accumulating, this paper designed a kind of yaw angle measuring system based on EKF (Extended Kalman Filter) by STM32 microcontroller and MEMS sensor. The EKF applys the attitude angle quaternion as the filter state variable, the angular rate as the filter time update. And application of the carrier location's gravitational field and geomagnetic data, complete filter measurement update, suppress divergent attitude error, obtain high accuracy and reliability of the attitude angle (pitch angle, roll angle, yaw angle) data. Experimental results show that the practical application of error control heading within ± 1º, with high practical value.

Info:

Periodical:

Edited by:

Prof. Jongwan Hu

Pages:

693-697

Citation:

F. Jia and Y. F. Ji, "Yaw Angle Measuring System of Omni-Directional Mobile Robot Based on EKF", Applied Mechanics and Materials, Vol. 835, pp. 693-697, 2016

Online since:

May 2016

Authors:

Keywords:

Export:

Price:

$38.00

* - Corresponding Author

[1] Z.G. Gao. Technology of inertial navigation system, Tsinghua University Press, (2012).

[2] B. Mao. Micro Inertial Systems and Applications. Harbin Engineering University Press, (2013).

[3] D.J. Jwo and T.S. Cho, Critical remarks on the linearised and extended Kalman filters with geodetic navigation examples. Measurement, 43(9) (2010) 1077-1089.

DOI: https://doi.org/10.1016/j.measurement.2010.05.008

[4] I. Klein, S. Filin, T. Toledo. Pseudo-measurements as aiding to INS during GPS outages. Navigation, 57(1) (2010) 25-34.

DOI: https://doi.org/10.1002/j.2161-4296.2010.tb01765.x

[5] D. Gebre-Egziabher, R.C. Hayward and J.D. Powell. Design of multi-sensor attitude determination systems. Aerospace Elect. Syst. IEEE T. 40(2) (2004) 627-649.

DOI: https://doi.org/10.1109/taes.2004.1310010

[6] R.C. Jia, Gravity / magnetic assisted Euler angles unscented Kalman filter attitude estimation. Opt. Prec. Eng. 12 (2014) 3280-3286.

[7] Q. Jiang, J. Li, J. Liu and Y. Du, Based on Single Chip GPS / MEMS gyroscope yaw angle real-time measurement system. Sens. Technol. 06 (2011) 919-922.

[8] J.H. Liang, W.C. Tian and T.M. Wang. AHRS design based ARM low-cost MEMS devices. Microcontr. Emb. Syst. 05 (2012) 1-4.

[9] Information on http: /www. invensense. com.

Fetching data from Crossref.
This may take some time to load.