{"title":"Bandwidth tilt measurement using low cost sensors","authors":"J. Leavitt, Athanasios Sideris, J. Bobrow","doi":"10.23919/ACC.2004.1383785","DOIUrl":null,"url":null,"abstract":"A state estimation technique is developed for sensing inclination angles using relatively low cost sensors. A low bandwidth tilt sensor is used along with an inaccurate rate gyro to obtain the measurement. The rate gyro has an inherent bias along with sensor noise. The tilt sensor uses an internal pendulum and therefore has its own slow dynamics. These sensor dynamics were identified experimentally and combined to achieve high bandwidth measurements using an optimal linear state estimator. Potential uses of the measurement technique range from robotics, to rehabilitation, to vehicle control.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"59 5","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2006-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"23","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2004 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ACC.2004.1383785","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 23
Abstract
A state estimation technique is developed for sensing inclination angles using relatively low cost sensors. A low bandwidth tilt sensor is used along with an inaccurate rate gyro to obtain the measurement. The rate gyro has an inherent bias along with sensor noise. The tilt sensor uses an internal pendulum and therefore has its own slow dynamics. These sensor dynamics were identified experimentally and combined to achieve high bandwidth measurements using an optimal linear state estimator. Potential uses of the measurement technique range from robotics, to rehabilitation, to vehicle control.