Volume 4: 18th Design for Manufacturing and the Life Cycle Conference; 2013 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications最新文献
E. Georgiou, P. Morgan, J. S. Diego, J. Dai, Michael Luck
{"title":"Self Localization Using a 9DOF IMU Sensor With a Directional Cosine Matrix","authors":"E. Georgiou, P. Morgan, J. S. Diego, J. Dai, Michael Luck","doi":"10.1115/DETC2013-12906","DOIUrl":"https://doi.org/10.1115/DETC2013-12906","url":null,"abstract":"In the field of robotics, the most essential requirement for successful navigation is an accurate and numerically inexpensive method for self-localization. This paper presents a method that exploits the principles of directional cosines to setup a rotation matrix to deal with a closed loop PI feedback based model. The system uses a 9 degree of freedom (9DOF) sensor and exploits the benefits of the accuracy of a 3-axis gyroscope by leveraging the measurement of a 3-axis accelerometer and 3-axis magnetometer, which compensates and corrects the accumulative drift generated by integrating the gyroscope velocity measurements. The results show that the method is relatively accurate with a small level of error when compared to vision based glyph recognition and tracking methods for self-localization and is a sustainable method for removing accumulative drift.","PeriodicalId":404234,"journal":{"name":"Volume 4: 18th Design for Manufacturing and the Life Cycle Conference; 2013 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications","volume":"104 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134092373","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}